Disturbance observer based feedback linearization control for electro-hydraulic servo systems

Daehee Won, Wonhee Kim, Chung Choo Chung

Research output: Contribution to journalArticle

2 Scopus citations


We propose a disturbance observer(DOB) based feedback linearization control to improve position tracking performance in the presence of disturbance. The proposed method consists of a disturbance observer and a feedback linearization controller. The disturbance observer is designed to estimate the load force disturbance in electro-hydraulic systems. An auxiliary state variable is proposed in order to avoid amplification of the measurement noises in the disturbance observer. Using the estimated disturbance enables the Electro-hydraulic servo systems(EHS) dynamics to be changed into feedback linearization from. In order to compensate for the disturbance and to track the desired position, the feedback linearization based controller is proposed. The proposed method has a simple structure which can easily be implemented in practice. As a result, the proposed method improves the position tracking performance in the presence of disturbance. Its performance is validated via simulations.

Original languageEnglish
Pages (from-to)297-303
Number of pages7
JournalTransactions of the Korean Institute of Electrical Engineers
Issue number2
Publication statusPublished - 2015 Feb 1



  • Disturbance observer
  • Electro-hydraulic servo systems
  • Feedback linearization

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