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. 2018 Jun 14;5:51. doi: 10.3389/frobt.2018.00051

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Copyright © 2018 Barasuol, Villarreal-Magana, Sangiah, Frigerio, Baker, Morgan, Medrano-Cerda, Caldwell and Semini

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Schematic drawing of a valve that controls the flows $Q_{A}$ and $Q_{B}$ in the actuator chambers. $P_{T}$ and $P_{S}$ represent the return and supply pressure, respectively, $Q_{T}$ and $Q_{S}$ are the return and supply flows, respectively, and $Q_{i}$ for $i = 1, 2, 3, 4$ are valve port flows.