In this paper, an adptive integral sliding mode control (AISMC) based on extended state observer (ESO) is proposed for the valve sleeve angle posotion control of a novel rotary valve for the first time. The novel rotary valve is designed for the electro-hydraulic transmission system with high frequency and flow especially adopted in the fatigue testing machine, and the unique valve structure and working principle is presented firstly to achieve the sleeve angle control model for the design of tracking controller. In order to obtain continuous reference trajectory and ensure control performance for integrel sliding mode, a third-order differentiator is designed and verified by matlab/Simulink simulation shows accurately tracking performance. To validate the excellence of the AISMC based on ESO, The spool position tracking experiment is also carried out on the test bench and the results show higher position tracking effectiveness and disturbance robustness compared with the PID controller.

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