Electro hydraulic actuator (EHA) system has inner and outer loops like a cascade system. The inner loop consists of an electric motor, a gear pump, and an angular velocity controller, and the outer loop consists of a hydro-actuator and a position controller. Especially, dead-band nonlinearity that exists between the electric motor and the gear pump and friction that occurs between the cylinder and the piston are considered. The tracking performance of EHA position control systems becomes

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... factory due to the dead-band and friction effects. Thus, in order to improve the position tracking performance of EHA systems with disturbance, backstepping control scheme for the desired position tracking is proposed, which is compared with the conventional PID scheme.