Control system for actuation system

An actuation system comprising:

• a plant assembly including:
• a first plant;
• a second plant in communication with the first plant;
• a control system having a controller adapted to control the plant assembly, the controller including a control loop having:
• an outer control loop adapted to minimize error associated with a manipulated variable of the second plant, the outer control loop providing a first control output signal, wherein the first control output signal is based on a feedback signal from the second plant;
• and
• an inner control loop adapted to minimize error associated with a manipulated variable of the first plant, the inner control loop communicating an output signal to the first plant, wherein the output signal is based on a feedback signal from the first plant and the first control output signal of the outer control loop.

A steering control system comprising:

• a steering system having:
• an electro-hydraulic servo valve;
• a steering actuator in selective fluid communication with the electro-hydraulic servo valve;
• a controller adapted to control the steering system, the controller including a control loop having:
• an outer control loop adapted to minimize error between a desired position of the steering actuator and an actual position of the steering actuator, the outer control loop producing a first output control signal;
• and
• an inner control loop adapted to minimize error between a desired position of the electro-hydraulic servo valve and an actual position of the electro-hydraulic servo valve, the inner control loop communicating a control signal to the electro-hydraulic servo valve based on the actual position of the electro-hydraulic servo valve and the first output control signal.