Discrete dynamic Preisach model for robust inverse control of hysteresis systems

Hysteresis effects are present in diverse systems including structural mechanics, tribology, and electromagnetism. Hysteresis systems are generally known as exhibiting a memory effect which aggravates their accurate prediction and control. The classical Preisach model provides powerful means to describe arbitrary hysteresis with rate-independent behavior. In this paper, we address the problem of the robust inverse control of hysteresis systems while presenting a novel formulation of the discrete dynamic Preisach model and its inverse. The control-oriented features, among the advanced computational efficiency and the handling of hysteresis uncertainties are shown and discussed. The properly developed inverse hysteresis control is augmented by an auxiliary disturbance observer which captures uncertainties of the modeled hysteresis and its time-variant behavior. The performance of the proposed observer based control strategy is compared with a standard feedback of the controlled hysteretic value. The proposed approach is experimentally evaluated for linearizing the torsional hysteresis compliance. Providing an universal character the method is suitable for a broad class of hysteresis systems independent of the source and form of underlying hysteresis.