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针对不确定性电液位置伺服系统的跟踪控制问题，提出了一种前馈补偿滑模ＰＩ控制方法．经仿真表明：该方法对存在外扰和模型不确定性的电液伺服系统具有强的鲁棒性和良好的跟踪特性．
Aiming at the tracking control problem of uncertain electro-hydraulic position servo system, a feedforward compensation sliding mode PI control method is proposed. The simulation results show that the proposed method has strong robustness and good tracking performance to the electrohydraulic servo system with external disturbances and model uncertainties.