Solution of Hydraulic Robot Model Reference Adaptive Control via Block Pulse Functions and Its Micro-Computer Realization

Transforming differential equations of model reference adaptive time-variant regu-lators into an algebraic form via block pulse functions makes control strategy be solvedeasily and realized conveniently by micro-computer.Experiments show a micro-computerbased one joint hydraulic robot control system has quick dynamic response,accuratepositioning and good anti-interferences performance.