This paper presents a rigorous analysis and design method for PWM-based control of pneumatic systems. An equivalent analytical model incorporating the effects of a finite PWM switching period is formulated. This equivalent model was motivated by a lack of control design and analysis techniques needed to treat the inherently non-analytical switching models associated with PWM-based systems. The equivalent model enables the design of a loop compensator that rigorously addresses control design issues of stability robustness, disturbance rejection, insensitivity to sensor noise, performance bandwidth and actuator saturation. Simulation of this compensator with both the equivalent design model and a full nonlinear switching model for a particular pneumatic robot application is presented which demonstrates and validates the proposed method.

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