This paper describes the design of a single degree-of-freedom hydraulic seat simulator. The hardware design includes various provisions to reduce static friction, backlash, etc. The paper also describes the painstaking task of plant identification and the subsequent effort to conceive a control that has near-perfect tracking characteristics. Experimental results are provided which indicate the simulator has flat amplitude and no more than 15 degrees of phase distortion over the range from 0.5 to 50 Hz.

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