I nter national Jour nal of M echanical Engineer ing and Technology (I JM ET)

Volume 8, Issue 7, July 2017, pp. 213–224, Article ID: IJMET_08_07_025

Available online at http://www.iaeme.com/IJMET/issues.asp?JType=IJMET& VType=8&IType=7
ISSN Print: 0976-6340 and ISSN Online: 0976-6359

© I AEM E Publication Scopus Indexed

ANAL YSI S OF HYDRAUL I CS ACTUATOR

SPEED CONTROL USI NG DI GI TAL
HYDRAUL I CS
G. K alaiar asan, Gir ir aj M annayee, Boopathi M , Somanadh M ayakoti
School of Mechanical Engineering,
VIT University, Vellore, Tamil Nadu, India

K . K r ishnamur thy
School of Mechanical and Building Sciences,
Kongu Engineering College, Perundurai, Tamil Nadu, India

ABSTRACT
Digital hydraulics is a forthcoming field which, in spite of the fact that being
connected in a few routes since long, brings some new thoughts, ideas and answers for
fluid power. The focal and unavoidable segments of digital hydraulic systems are on-
off valves. This paper talks about the likelihood to utilize minimal price on/off valves
rather than servo valves indeed, even in requiring servo applications. Different on/off
control procedures are first checked on and examined. Digital hydraulics makes
additionally many challenging issues for component improvement, control, modelling,
simulation and treatment of dynamical impacts. These difficulties are differentiated by
the potential points of interest of digital hydraulics which are complex: robustness,
reliability and cost savings. In any case, other genuinely digital segments, as digital
displacement pumps, digital cylinders and transformers were created to improve digital
hydraulics. The Digital hydraulic principles used here involves digital valves only. In
light of these basic parts, various ideas have been proposed. Results demonstrate that
energy efficient and speed control is conceivable with basic and minimal cost on/off
valves. In this manner, the digital hydraulics potential option for conventional servo
systems.
K ey wor d: Digital Hydraulic, PID, Cost Function, Motion Control.
Cite this Ar ticle: G. Kalaiarasan, Giriraj Mannayee, Boopathi M, Somanadh Mayakoti
and K. Krishnamurthy, Analysis of Hydraulics Actuator Speed Control Using Digital
Hydraulics. International Journal of Mechanical Engineering and Technology, 8(7),
2017, pp. 213–224.
http://www.iaeme.com/IJMET/issues.asp?JType=IJMET&VType=8&IType=7

http://www.iaeme.com/IJMET/index.asp 213 editor@iaeme.com

 Analysis of Hydraulics Actuator Speed Control Using Digital Hydraulics

1. I NTRODUCTI ON
The expression “ Digital fluid power” is wide and not completely characterized. “ Digital fluid
power implies hydraulic and pneumatic systems having discrete valued components effectively
controlling system output” . A two-valued single component with no intelligence is not
considered as a digital system. A digital system has various discrete valued components (on or
off), a few illustrations being a microchip-transistors, a digital camera-pixels. The features of
Digital hydraulics [1] are: 1) all valves are on/off control type. 2) Performance is equivalent to
conventional proportional and servo systems, which implies on/off valves supplant servo and
proportional valves. 3) Digital flow control unit should possess separate meter-in meter-out
control which gives settled inflow/outflow proportion. 4) Flexible and programmable
controller, which uses at any rate the fundamental data of the controlled system. 5) Redundant
circuits to such an extent that the system works, perhaps with degraded performance which is
an exclusive feature of digital hydraulics.
Two basic categories of digital fluid power are systems in view of parallel connection and
systems based on switching technologies. Parallel connected systems have majority of parallel
associated parts and the output is controlled by changing the state combinations of the segments.
This system has a specific number of discrete output values. On the other hand, switching
technologies use quick and persistent switching of single or a couple of segments and the output
is balanced by e.g. the pulse-width modulation. It controls the normal flow area by high
frequency modulation and the pulse width modulation is the most widely recognized approach.
Our approach is through parallel connected systems. The figure 1 presents the parallel
associated usage of 2-way valve. The flow region of the DFCU is the total of the flow regions
of the open valves. Binary coding is the most widely recognized technique and flow proportions
are in the ratio of 1:2:4:8 and so forth. Other coding strategies incorporate Fibonacci (1:1:2:3:5
and so forth) and pulse number modulation (1:1:1 and so forth). Separately on the coding,
DFCU has 2N opening combinations, which are termed as states of DFCU. Each state has
distinctive flow area in the binary coding while at the same time changing level of redundancy
exists in the other coding strategies. Basic contrast to the switching valve is that DFCU does
not require any switching to keep up any of the opening qualities. Switching are required just
when the state changes.

SOL09 SOL 10

SOL5 SOL1 SOL5 SOL 1

SOL6 SOL2
SOL2
SOL 6

SOL7 SOL3
SOL7 SOL3

SOL8 SOL4 SOL8 SOL4

Figur e 1 Digital valve base DFCU

http://www.iaeme.com/IJMET/index.asp 214 editor@iaeme.com

 G. Kalaiarasan, Giriraj Mannayee, Boopathi M, Somanadh Mayakoti and K. Krishnamurthy

The Digital Valve positioned DFCU is presented in the figure 1. Four Digital based Valves
are introduced to govern flow directions:
1. P→ A i.e. discharge from pump (P) to cylinder piston side chamber (A),
2. A→T i.e. discharge from cylinder piston side chamber (A) to Tank (T)
3. P→B i.e. discharge from pump (P) to cylinder rod side chamber (B) and
4. B→T i.e. discharge from cylinder rod side chamber (B) to Tank (T) permitting independent
meter-in meter-out flow management. The Digital based Valve is made out of 4 control
segments in parallel, each control segment incorporates one ON/OFF Valve and Orifice flow
meter.

Assumptions for our cir cuit

1. In our DFCU, Pressures at every point is constant.
2. Ideally, our valves are fast in operation
3. There is no leakage in the overall circuit.
4. There are no friction losses, discharge losses and pressure losses.
The Digital based Valve [2] is made out of 4 control segments in parallel, each control
segment incorporates one ON/OFF valve and one Orifice flow meter. The discharge control of
Digital based Valve is accomplished by modifying the condition of various control segments.
Theoretically there are three fundamental coding strategies for Digital based Valve: (a) Binary-
based coding which is also termed as “ PCM” stands for Pulse Coding Modulation, (b) “ PNM”
coding stands for Pulse Number Modulation and (c) Mixed PNM-Binary based coding. Anyway
characteristics of the mentioned coding strategies are explained earlier. Binary rooted coding
Digital based Valve is utilized in the current system since it is flexible to be acknowledged in
dealing with PCs. All the on/off valves connected in our proposed DFCU (figure-1) are assigned
to solenoid operation, which are energized by the PLC program.
For the mentioned Digital based Valve, (operating) Pressure drop of each segment can be
treated alike. In this way our binary based coding of the Digital based Valve can be
accomplished by tuning the fluid flow area of the Orifice flow meter in every segment. Like the
aggregate current in a considered electric circuit is equivalent to the summation of the current
in individual parallel connected member, the aggregate discharge in the Digital based Valve is
equivalent to the summation of the discharge in individual parallel segment. Thus the discharge
capacity of the orifice flow meter [11] in Digital based Valve can be determined by the equation
(1),

∆P
Q = 0.0851× C × A× (1)
SG
Q = discharge (L/min)
C = Flow coefficient (0.64-0.76 for laminar flow)
A = Area of the Orifice (mm2)
∆ = pressure drop at orifice (KPa)
= specific gravity of the flowing fluid (constant)

2. SAM PL E CAL CUL ATI ON FOR ORI FI CE DI AM ETER

For smallest valve let us say, flow rate Q= 0.4 L/min, and pressure drop across the valve, let us
say 500 KPa, then substituting the values we got the diameter of 0.5784 mm.

http://www.iaeme.com/IJMET/index.asp 215 editor@iaeme.com

 Analysis of Hydraulics Actuator Speed Control Using Digital Hydraulics

As we followed pulse code modulation (1:2:4:8 flow capacity), the next valve flow rate will
be 0.8 L/min, and pressure drop is constant across the all valves, then we got the diameter of
second valve as 1.1568 mm
Like this, after obtaining all the orifice diameters for four valves, feed to the circuit in our
simulation part.

2.1. I mplementing Random Bit Sequence

Till now we operated our digital flow circuit unit with sequence of 4-bit combinations with the
help of PLC program. We can also provide random bit- sequence using digital electronics
principles [12]. The procedure is as follows:
We have to select our desired random bit- sequence
Prepare the Next state, Present state and Excitation input tables
With the help of the KV-map, obtain the output logics and connect to Flip-Flops
Assign the output terminals of Flip-flops to our proposed DFCU (figure 1).

2.2. Pr opor tional valve

To control a coil on the Proportional hydraulic valve [10], with the help of supply source, the
input is attached to an amplifier system. In view that the electrical contribution from existing
sources is mainly less than the amplitude of current required to conduct the coil, because of that
input current should be amplified. This operation is fulfilled by an Amplifier based system. The
Amplifier system is placed on the desired valve, which is stated as OBE (on board electronics).
The source of the input may originate from a few devices, for example, “ Potentiometer” under
the surveillance of system operator, from a program logical controller, or controlling using
joystick
The amplifier system operates the valve coil with input current. When the current passes
along the coil, an EMF is generated, making the armature of the solenoid system to set into
motion. The input from the armature operates the valve spindle considering flow path, pressure
relief, DCVs, the spool in a pressure reducing valve. The spindle is also compensated by a
spring. Subsequently, the estimated force contributed by the solenoid system is restricted due
to the drive of the attached spring.
Considering the above principles of proportional hydraulics, we can create that environment
in our software tool. Here we operated i.e. input is given from the joystick as shown in the
figure below. This circuit will act as an open-loop system since output action is not controlled
by any feedback signal. The solenoid attached proportional hydraulic valve is assigned to the
joystick motion.

http://www.iaeme.com/IJMET/index.asp 216 editor@iaeme.com

 G. Kalaiarasan, Giriraj Mannayee, Boopathi M, Somanadh Mayakoti and K. Krishnamurthy

? (Is ) ? (Is )
JY_X ? (Is )

0 L/min

Figur e 2 Proportional hydraulic system

2.3. Ser vo valve

At the point when closed-loop hydraulic control systems initially started to appear in industry,
the applications were for the most part those in which very high accomplishment was required.
While hydraulic servo systems [9] are still intensely utilized as a part of superior efficient
applications such as the machine-tool industry, they are starting to yield wide acknowledgement
in a different type of industries. Cases are material handling, mobile machinery, plastics, steel
plants, mining, oil analysis, and automotive verification. Servo valves were advanced to
encourage the modification of fluid flow in light on the changes in the load movement.
Closed loop servo drive methodology is progressively turning into the standard in machine
automation, where the administrators are challenging high precision, rapid operation and less
complex change. There is additionally a desire that the cost of expanding the level of automation
ought to be contained within satisfactory edge.
In its elementary form a servo or a servomechanism is a control system which calculates
its own output and forces the output to rapidly and precisely follow a command signal. In this
way, the impact of irregularities in the control device itself and in the load can be limited and
additionally the impact of external noises. A servo system can be intended to control any
physical quantities such as movement, force, pressure, temperature, electrical voltage or
current. Considering the above principles of Servo hydraulics, we can create that environment
in our software tool. Here we operated i.e. input is given from the joystick as shown in the
figure below. This circuit will act as a closed-loop system since output action is controlled by
feedback signal. The solenoid attached Hydraulic servo valve is assigned to the CONTROL
block and an equation is written in the variable assignment of CONTROL variable.

http://www.iaeme.com/IJMET/index.asp 217 editor@iaeme.com

 Analysis of Hydraulics Actuator Speed Control Using Digital Hydraulics

? (Is ) ? (Is )
Control (Os )
Control (Os ) ? (Is )

0 L/m in

Figur e 3 Hydraulic servo system

3. STEADY STATE CHARACTERI STI CS

In this chapter to clarify the system behaviour, our 4 Digital based Valves on considered flow
directions are thought to be precisely the same. In this way the consistent equations of the
system (Figure. No.1) in the forward direction can be presented as equations (2), (3), (4).

− − = (2)

− − = − (3)

= – (4)
The equations (2) and (3) represents the flow from the source to the port-A and port-B
chamber respectively of the cylinder. By using the equation (4) force can be calculated based
on our assumption we have taken F=0, where , , , are taken as flow combination
parameters of the Digital based Valve for flow directions:
1. P→ A i.e. discharge from pump (P) to cylinder piston side chamber (A),
2. A→T i.e. discharge from cylinder piston side chamber (A) to Tank (T)
3. P→B i.e. discharge from pump (P) to cylinder rod side chamber (B) and
4. B→T i.e. discharge from cylinder rod side chamber (B) to Tank (T).
The term " Q " is the discharge capacity of the least significant bit binary based Digital
Valve with unit pressure drop,
Stands for pump pressure,
Stands for cylinder piston side pressure (A),
Stands for cylinder rod side pressure (B),
V stands for Steady State combinations velocities of the proposed DFCU,
Stands for cylinder piston side area,
Stands for cylinder rod side area,
F stands for force.
NOTE: The flow combination parameters “ U ,U , U ,U ” are considered to be the inputs
and V, P ,P to be the outputs of the system. The above equations can be simplified for the
extending dir ection [3] as follows:

http://www.iaeme.com/IJMET/index.asp 218 editor@iaeme.com

 G. Kalaiarasan, Giriraj Mannayee, Boopathi M, Somanadh Mayakoti and K. Krishnamurthy

/
= (5)

/
= (6)

/
= (7)

Where:

= , =

Similarly, steady-state velocity and pressure of the cylinder can be solved in retracting
direction and the result is
/
= (8)

/
= (9)

/
= − (10)

= , =

4. I M PL EM ENTATI ON OF STEADY STATE CHARACTERI STI CS I N

M ATL AB
This section gives us the valuable information regarding our digital hydraulic circuit. As per
the taken cylinder specifications (rod diameter-16mm, piston diameter-32mm, supply
pressure12MPa, flow capacity of smallest valve of our proposed DFCU-(1* 10^-8 m3/
(sec* √ )), we will obtain steady state velocities and pressures.
The system (Figure.No.1) has total 15* 15= 225 different U −U or U −U
combinations giving non-zero velocities.
Write a MATLAB script involving above formulae and cylinder specifications
Create the logic such that we will obtain 15* 15 velocity matrix in the workspace which
resembles the each 225 combinations for U − U orU − U .
We can plot 3-D bar graphs featuring U −U or U −U as x, y axis respectively and
velocity as the z-axis.
From the 3-D bar graph or from the 15* 15 velocity matrix in the work space we can select
U − U or U − U state combinations giving almost the same velocity.
Then feed the corresponding bits (combinations) for both extending and retracting to our
proposed DFCU (figure-1) using programming

4.1. Obser vations fr om the velocity table of extending dir ection

Table 1 shows velocity table of extending direction, it can be seen that same velocity can be
achieved with some combinations. For example, velocity of 0.45 m/s for extending direction
can be achieved with five different U − U Combinations as noticed from steady state
extending velocities work space environment. Those are:

http://www.iaeme.com/IJMET/index.asp 219 editor@iaeme.com

 Analysis of Hydraulics Actuator Speed Control Using Digital Hydraulics

Table 1 Velocity table of extending direction

S.No.
1 14(1110) 7(0111)
2 14(1110) 8(1000)
3 14(1110) 9(1001)
4 14(1110) 10(1010)
5 14(1110) 11(1011)

3-D Bar gr aph for extending dir ection steady state velocities

Figur e 4 Steady state velocities of extending direction

3-D Bar gr aph for extending dir ection cor r esponding steady state pr essur es

Figur e 5 Steady state Pressure of extending direction

http://www.iaeme.com/IJMET/index.asp 220 editor@iaeme.com

 G. Kalaiarasan, Giriraj Mannayee, Boopathi M, Somanadh Mayakoti and K. Krishnamurthy

2-D line gr aph for extending dir ection steady-state velocities vs 225 state
combinations

Figur e 6 Up – Ut Combinations of DFCU states

The same process can be followed for retraction motion (MATLAB script, velocity table,
selecting the combination for -0.45m/s)

5. CONTROL M ETHODS
5.1. Feed- for war ding the obtained combinations to our DFCU
All the on/off valves connected in our proposed DFCU (figure-1) are assigned to solenoid
operation, which are energized by the PLC program. There we achieved step-wise-step shaped
velocity graph. Now instead of that sequence (0000-1111), we have to assign our selected
combinations in the programming. Therefore, we will achieve constant extending and retracting
velocity of 0.45 m/s. In previous section, we performed feed forwarding technique for
controlling the velocities obtained with the help of steady state characteristics and simulation.
Here we introduced Cost-function type control method. It is basically an open-loop control
method.
A Cost-function is the performance measure of what we want to minimize. For example,
the term “ cost” can be Power consumption or total error.
We can also define the “ cost” as the deviation from a reference value of a signal.
It is a functional equation which assigns a group of points in a time based to one scalar
value. That value is called the “ cost” .

5.2. Cost-Function type contr ol method

A combination of control signals can be selected from our velocity matrix, obtained in previous
chapter. First we have to write cost-function equation [3] involving steady-state velocities and
downstream pressure. Then we have to minimize the chosen cost function. The developed cost-
function is given as follows:
J ( k ) = [Vr ( k ) − Ve ( k )] 2 + K[ Pr ( k ) − Pe ( k )] 2
(11)
Ve is the calculated steady-state velocity,
Vr is the reference velocity,

http://www.iaeme.com/IJMET/index.asp 221 editor@iaeme.com

 Analysis of Hydraulics Actuator Speed Control Using Digital Hydraulics

Pe is the calculated downstream pressure (equal to the PB for extending direction and PA for
retracting direction)
K is the tuning parameter, which is used to find a compromise between velocity and pressure.

Algor ithm for our open-loop contr ol str ategy

Note the present reference velocity and reference pressure
Read the calculated velocity and pressure with all combinations from the steady-state
characteristics.
Pick the combination which minimized the cost-function value.
Assign the selected control signal to the corresponding Digital based valves and go to step 1.

6. RESUL TS ANAL YSI S

Velocity graphs of hydraulic servo valve and our proposed DFCU, we can come to know that
we achieved step-wise-step flow control from the Digital valves. Our proposed DFCU possess
simple control electronics. For same flow rates of 120 L/min; same loads and same cylinder
piston and rod diameters, the digital valve associated actuator extends more length with almost
same velocity. The cost of on/off valves (around 16) is less when compared to the cost of the
hydraulic servo valve. The estimated price for digital- hydraulic four-way valve is 1200 €
(including manifolds, control electronics), which is only a fraction of the price of the water
hydraulic servo valve (>5000 €).
0.25 0.5
0.2 0.4
0.3
0.15 0.2
Velocity(km/ s)
velocity(m/ s)

0.1 0.1
0.05 0
-0.1 0 10 20 30 40 50
0 -0.2
-0.05 0 5 10 15 20 25 -0.3
-0.1 -0.4
-0.5
-0.15 -0.6
-0.2 -0.7
Time(sec) Time(sec)

Essential challenge of our digital flow circuit unit is the capacity of the total on/off valve
system when correlated to hydraulic proportional and servo valves. Even though each on/off
valve is smaller than proportional hydraulic valve with similar capacity, the case can be inverse
when DFCU valve system with 15-25 On/Off type valves are used. There are two options for
advancement of smaller DFCUs. The first is to upgrade existing valves for ideal parallel
connectivity. Other option is micro designed valve like e.g. using silicon etching technique.
Effective improvement of hydraulic micro valve will make it conceivable to improve smaller
DFCUs with an enormous number of similar valves. This sort of valve would offer quick
reaction and good verbosity. Digital flow control unit is considered since it provides cost
effective resolution. It depends purely in application. It surely relevant for water hydraulics
since hydraulic servo and proportional valves are so costly. Two-way solenoid valves gives cost
effective solution for low-pressures (below 50 bar) and discharge rates (below 20 l/min). By
considering aggregate costs includes manifolds and control electronics which are twice the price
of the valves, a sample cost estimation for the digital flow circuit unit can be calculated. A cost-

http://www.iaeme.com/IJMET/index.asp 222 editor@iaeme.com

 G. Kalaiarasan, Giriraj Mannayee, Boopathi M, Somanadh Mayakoti and K. Krishnamurthy

evaluate for the digital valve system with 4-way valve is similar to the cost of the pilot
associated hydraulic valve with spindle position feedback and coordinated hardware. So, the
present on/off valves technique provides less cost in oil hydraulics. This is convincing since
there is no mass production of digital based hydraulic valves. If the switching mode branch of
fluid power is taken, the switching noise of our digital valves are precisely correlated to the
response time of the valve. More noise is produced when we use fast valves. That is because of
high impact energy and quick armature movement. The noise produced in digital hydraulic
system is lesser than with PWM technique control. Digital flow control unit is not using fast
valves, noise level is low in digital hydraulics since valves are operated only if velocity changes.
The other factor is pressure peaks. They are harmful since they produce noise and cause damage
the system. In real time applications, jerky motion is rarely allowed. Our proposed digital
hydraulic unit produces smooth movement when there is variation in switching delay values.
There are many ways to increase the smoothness of motion. The correct way is to utilize valves
provided with small switching delays. Pressure peaks depends also on applying coding
techniques. Theoretically, we can come to know that PNM technique produces less peaks, Pulse
code Modulation gives high peaks and Fibonacci coding technique gives medium peaks.

7. CONCL USI ONS

In our project, we performed two control methods based on the steady-state characteristics of
the cylinder. First one is feed-forwarding method and second one is cost function method.
Feeding the combination to the programming, which is obtained from the velocity matric gives
the desired velocity control. If you see the velocity matrix, nearly 4-5 different combinations
can be possible for same velocity. This is one of the advantages for DFCU. On the other hand,
we can reduce the error using the cost-based function. Here we can select the combination
which minimizes the cost-function value. So from this method, we can feed to the programming
the exact combination with minimum error. To enhance the behavior of the cost-function based
controller, we should repeat the algorithm with more reference velocities and pressures with
the help of proper logic in the coding part. Finally we want to conclude that the trend has been
changing to Digitalization in all fields. So we can also change in our Hydraulic applications.

REFERENCES
[1] Laamanen, M. S. A., & Vilenius, M. (2003). Is it time for digital hydraulics. In The Eighth
Scandinavian International Conference on Fluid Power.
[2] Linjama, M. (2011, May). Digital fluid power: State of the art. In 12th Scandinavian
International Conference on Fluid Power, Tampere, Finland, May (pp. 18-20).
[3] Wu, J., Wang, S., Wang, J., & Xie, W. (2014, July). A compound control strategy for the
digital valve based hydraulic position tracking system. In Control Conference (CCC), 2014
33rd Chinese (pp. 7869-7873). IEEE.
[4] Linjama, M., & Vilenius, M. (2007). Digital hydraulics-Towards perfect valve technology.
In In: Vilenius, J. & Koskinen, KT (eds.) The Tenth Scandinavian International Conference
on Fluid Power, May 21-23, 2007, Tampere, Finland, SICFP'07.
[5] Linjama, M., & Vilenius, M. (2005). Improved digital hydraulic tracking control of water
hydraulic cylinder drive. International Journal of Fluid Power, 6(1), 29-39.
[6] Merrill, K., Holland, M., Batdorff, M., & Lumkes Jr, J. (2010). Comparative study of digital
hydraulics and digital electronics. International journal of fluid power, 11(3), 45-51.
[7] Society of Locateli, C. C., Belan, H. C., De Pieri, E. R., Krus, P., & De Negri, V. J. (2014,
September). Actuator Speed Control Using Digital Hydraulics. In ASME/BATH 2014
Symposium on Fluid Power and Motion Control (pp. V001T01A025-V001T01A025).
American Mechanical Engineers.

http://www.iaeme.com/IJMET/index.asp 223 editor@iaeme.com

 Analysis of Hydraulics Actuator Speed Control Using Digital Hydraulics

[8] Ivantysynova, M., Scheidl, R., & Linjama, M. (2010). Special Issue on Digital
Hydraulics. International Journal of Fluid Power, 11(3), 5-5.
[9] Rydberg, K. E. (2008). Hydraulic servo systems. TMHP51 Fluid and Mechanical
Engineering Systems. Linköping University.
[10] Abhishek, Deepak Kumar, Abishek Karthik, Ajay, Automation of Lathe Using Pneumatic
Actuators, International Journal of Mechanical Engineering and Technology, 8(3), 2017,
pp. 419–425.
[11] R. Ganesh, K. Karthik, A. Manimaran and M. Saleem. Vibration Damping Characteristics
of Cantilever Beam Using Piezoelectric Actuator. International Journal of Mechanical
Engineering and Technology, 8(6), 2017, pp. 212–221.
[12] DeRose, D. (2003). Proportional and servo valve technology. Fluid Power Journal, 4, 8-12.
[13] Anthony Esposito, A text book on Fluid Power with Applications
[14] S Salivahanan, S Arivazhagan, A text book on Digital Circuits And Design

http://www.iaeme.com/IJMET/index.asp 224 editor@iaeme.com