A dual-mode H robust tracking controller design is presented to regulate the speed of a hydraulic front wheel drive system on a motor grader. The controller design uses a multiplicative unstructured uncertainty model to account for the un-modeled dynamics of the plant and parametric uncertainties such as variations in fluid temperature and air entrainment. The H design is compared to a classical PI controller design, which is the existing industrial practice. It is shown that the H design provides a higher level of stability robustness and better performance guarantees, which make it a viable candidate for motor grader application.

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