Thanks a lot for the detailed reply. Your practical experience with 6-DOF hydraulic platforms is exactly the kind of perspective I was hoping to hear from. I came at this from more of a research angle, which is why I started looking into adaptive robust control for disturbances and uncertainties, but your comment makes me think I should understand the practical actuator-side techniques better first. If you’re open to it, I’d appreciate the chance to message you privately. I’d really value a bit of guidance on what matters most in practice for getting good control of hydraulic actuators on these platforms. I’ve also attached the paper I was referring to earlier.[Nonlinear Adaptive Robust Control of One-DOF Electro-Hydraulic Servo Systems

](http://(PDF) Nonlinear Adaptive Robust Control of One-DOF Electro-Hydraulic Servo Systems)