In this article, the transfer function of a servo hydraulic fatigue testing machine for composite material specimen is identified based on gray box technique. The system uncertainty is determined by means of the identified linear model. A Feedback and forward robust controller and an adaptive controller based on gain scheduling technique are designed to adjust the closed loop gain for minimizing the error between the amplitude of the reference signals and outputs. Using frequency response analysis of the closed loop system, the control system can compensate low frequency uncertainty up to 10 rad/sec. The experimental results for block loading fatigue tests, confirms the robust performance of the proposed control system

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