## 8 Conclusions  
This article presents a new DIHPS operating principle, its original dynamic model with a simulation solution, and an HA stiffness model considering an HPA. The incremental step shift of the DIHPS is possible due to its new design concept and the principle of operation, consisting of the symmetrical arrangement of the outflow slots in relation to the actuator piston, through which the fluid flows from the actuator chambers to the open \(i\)-th BV at the bleed off to the tank. The advantage of placing BVs at the bleed to the tank is that flow disturbances are not generated in the HA, as is the case with inlet valves.  
Since there is no similar solution to DIHPS, the factors that determine the properties of DIHPS compared to other positioning methods are highlighted:  
* positioning speed: high; the opening size of the BV can be large;
* positioning accuracy: low, large radial clearance between cylinder and piston;
* positioning resolution: low, limited distances between the outflow gaps;
* positioning range: low, limited number of outflow gaps;
* response speed: high; opening of the BV can be quick;
* working force: low, the chambers on both sides of the piston are supplied with pressure fluid;
* cost: medium, simple structure, and moderate requirements for component machining precision;
* location limit: high; location depends on positioning resolution and positioning range.  
In DIHPS, reliability, repeatability, fault tolerance, zero leakage, low operating cost, and lower cost of spare parts are the most important.  
Simulation tests confirmed the accuracy of the design assumptions, the functionality of the dynamic model, and the achievability of the specified DIHPS incremental step shift. The hydraulic resistance of the DIHPS was verified on the basis of the circuit of the hydraulic resistance. After reaching the set incremental step position, the DIHPS entered the stop position, where the stiffness of the hydraulic oil in the actuator chambers was significant. An HA stiffness model was defined for the DIHPS stop position to determine the relative hydraulic stiffness and natural frequency as functions of the actuator piston position. The dynamic response parameters of the HA stiffness for a single-step shift of the piston actuator were verified with and without constant excitation force. Hydraulic stiffness has been shown to have a significant impact on the dynamic behavior of the DIHPS in the stop position. The HPA is connected to the actuator chamber to effectively dampen the vibrations of the piston, and the pressure peaks at the stop position of the HA. The HPA and hydraulic damping tube connected to the actuator chamber were modeled using a lumped element RLC connected in series. The damping effectiveness of the HPA was proven by comparing the damped and undamped dynamic response parameters of the HA for a single-step shift of the actuator piston. The results of the simulation tests were used to develop a DIHPS prototype that was subjected to experimental tests. The execution of DIHPS is complex, as it requires precise machining of step-distant outflow gaps.  
Incremental step positioning using DIHPS is simpler and cheaper because it operates in an open loop without feedback, which is beneficial in heavy industrial automation to position large masses in shipbuilding, mining, steel mill, metallurgy, and construction.  
This research received no external funding.  
**Institutional Review Board Statement:** Not applicable.  
**Informed Consent Statement:** Not applicable.  
**Data Availability Statement:** Data are contained within the article.  
**Conflicts of Interest:** The author declares no conflicts of interest.