Abstract—Existing fuzzy control methods do not perform well
when applied to proportional hydraulic systems (PHS) containing
nonlinearities arising from unknown deadzones. In this paper, a
two-layered fuzzy logic controller is proposed for controlling a
PHS with deadzones. The two-layered control structure consists
of a fuzzy logic-based precompensator followed by a usual fuzzy
PD controller. This system was implemented for PHS position
control. The results show that a two-layered fuzzy logic controller
has superior performance compared to usual fuzzy PD
controller. In addition, the proposed scheme is robust to
disturbance.