The authors present a model-based analysis of a position-velocity-acceleration-controlled pneumatic actuator that indicates that supplementing the pneumatic actuator with mechanical damping can significantly increase the gain margin, tracking accuracy, and disturbance rejection of a closed-loop-controlled pneumatic servoactuator. In order to validate the model-based analysis and purported performance and stability benefits provided by supplemental damping, experiments were performed on a single-degree-of-freedom pneumatic servosystem. Measurements conducted on the experimental setup, which validate the respective improvements in stability margin, tracking accuracy, and disturbance rejection, are described.
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