Disturbance compensation techniques for controlling pneumatic actuator systems

Yu Sheng Lu*, Chang Yong Syu, Chao Shu Liu

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


In this paper, three disturbance compensation algorithms are experimentally evaluated considering the control problem of a rodless pneumatic cylinder. Despite its highly nonlinear dynamics, the pneumatic cylinder is modeled as a linear system including an unknown lumped disturbance. Three disturbance estimation algorithms are then employed to compensate for this lumped disturbance: the traditional linear disturbance observer (TDOB), the integral sliding-mode disturbance observer (I-SDOB) and the IMP-based SDOB (IMP-SDOB). Experimental results are presented to compare these three algorithms in terms of positioning accuracy.

Original languageEnglish
Pages (from-to)275-287
Number of pages13
JournalTransactions of the Canadian Society for Mechanical Engineering
Issue number3
Publication statusPublished - 2014


  • Disturbance compensation
  • Disturbance observer
  • Pneumatic cylinder
  • Sliding mode

ASJC Scopus subject areas

  • Mechanical Engineering


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