A feedback linearization based observer for an electropneumatic clutch actuated by on/off solenoid valves

Abstract

In this paper a nonlinear model for a heavy dry clutch system with concentric pneumatic actuation is proposed and validated with measurement data. On/off solenoid valves are used for controlling the air stream in and out of the actuator. The different challenges in modeling this system are addressed and discussed to succeed in deriving an appropriate observer for the system states. For the application of a regulator, which requires a full state feedback of the given system, an observer based on feedback linearization is proposed and is shown to yield excellent tracking performance.