Hysteresis Compensation and IMC Design for Piezoelectric Actuators

A large class of piezoelectric actuators present undesirable complicated hysteretic nonlinearities at various levels. This requires the development of a control system capable of accurately and robustly controlling this class of systems characterized by hysteresis nonlinearity. In this paper, we propose a control design method to compensate for the hysteresis effects using the Hammerstein model representation. The Bouc-Wen model is considered in the Hammerstein representation to describe the hysteresis characteristic. The proposed method aims first to design an inverse hysteresis compensator to linearize the system using the Bouc-Wen model, followed by the design of an internal model controller (IMC) to improve the system's robustness and meet certain performance criteria. Simulation experiments are conducted and the results obtained demonstrate the efficacy of the proposed control method.