An H∞ almost disturbance decoupling robust controller design for a piezoelectric bimorph actuator with hysteresis

A robust controller design for a piezoelectric bimorph nonlinear actuator is considered. The nonlinear dynamics of the actuator are first linearized and re-formulated into a standard almost disturbance decoupling problem. Then a robust controller, which is explicitly parameterized by two tuning parameters, is carried out using a so-called asymptotic time-scale and eigenstructure assignment approach. The parameterized controller can be tuned by adjusting the parameters to achieve disturbance decoupling and other design goals for the problem that we consider. Simulation results show that the design is very successful in terms of steady state tracking error, settling time and other performances