Hydraulic systems are widely used in industrial applications. This is due to its high speed of response with fast start, stop and speed reversal possible. The torque to inertia ratio is also large with resulting high acceleration capability. The nonlinear properties of hydraulic cylinder make the position tracking control design challenging. This paper presents the development and implementation of self-tuning fuzzy PID controller in controlling the position variation of electrohydraulic actuator. The hydraulic system mathematical model is approximated using system identification technique. The simulation studies were done using Matlab Simulink environment. The output performance was compared with the design using pole-placement controller. The roots mean squared error for both techniques showed that self-tuning Fuzzy PID produced better result compared to using pole-placement controller.

Despite the application of advanced control technique to imp rove the performance of electro-hydraulic position control, Proportional Integral Derivative (PID) control scheme seems able to produce satisfactory result. PID is preferable in industrial applications because it is simp le and robust. The main problem in its application is to tune the parameters to its optimu m values. This study will look into an optimization of PID parameters using Nelder-Mead (N-M) co mpare with self-tuning fuzzy approach for electro-hydraulic position control system. The electro-hydraulic system was represented by an Auto-regressive with Exogenous Input (ARX) model structure obtained through MATLAB System Identification Toolbo x. Second-order and third-order model of the system had been evaluated. Simu lation and real-t ime studies show that the output produced the best response in terms of transient speed and Root Mean Square Error (RM SE) performance criteria.

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