A simple and novel speed control scheme for variable displacement motors has been developed under the consideration of some system uncertainties. Theoretical analysis and experimental test results have shown that the proposed control strategy is capable of driving the swashplate to track its desired trajectory with robust stability and satisfactory performance. An adaptive learning algorithm enables the controls to automatically adjust for uncertainties in the control bias current. Compared with its hydro-mechanical counterpart, the provided E/H control results in a hydraulic variable displacement motor with lower cost and better performance.

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