CONTROLLER DESIGN OF A PNEUMATIC SERVO-VALVE IS DISCUSSED. THIS VALVE USES AN ELECTRO-MAGNETIC COIL SYSTEM TO DRIVE THE SPOOL, AND RELIES ON ITS CONTROL MECHANISM TO ADJUST THE SPOOL POSITION BASED ON FEEDBACK CHARACTERIZING THE LOCATION OF THE ROBOT ARM. THE CONFIGURATION OF THE VALVE PROVIDES THE BENEFIT OF HIGH FLOW GAINS AND STABILITY.
