Figure S2. The experimental setup and platform. a The overview of the experimental sets. The DSPACE controls the system (1 kHz), and the 3-channel valve island produces the timings of valves. b Pneumatic schematic diagram of the 3-channel valve island. c Power function of the air pump, where the pump power increases with the output pressure. d Timings of the solenoid valves. N is the time-based equivalent weighted average number of solenoid valves in use for a period, which is obtained from the timings.