Simplified modeling and generalized predictive position control of an ultrasonic motor

Ultrasonic motors (USMʹs) possess heavy nonlinear and load dependent characteristics such as dead-zone and saturation reverse effects, which vary with driving conditions. In this paper, behavior of an ultrasonic motor is modeled using Hammerstein model structure and experimental measurements. Also, model predictive controllers are designed to obtain precise USM position control. Simulation results indicate improved performance of the motor for both set point tracking and disturbance rejection.