상황
A robotic manipulator arm requires smooth, proportional control of a hydraulic cylinder using a position feedback loop and failsafe directional valves.
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01
Used pump_pd for positive-displacement hydraulic pump
02
Modeled cylinder as vessel_h due to catalog constraints
03
Included ZT/ZIC position control loop for proportional valves
Reuse for hydraulic systems needing proportional valve control, feedback instrumentation, and P&ID representation of actuators.