Design of a Repetitive Control System for a Piezoelectric Actuator Based on the Inverse Hysteresis Model

In this paper, first, we formulate the mathematical modeling of a piezoelectric actuator which is characterized by the hysteresis behavior. Second, we propose a controller design method for the PZT actuator which is subject to repetitive tasks. A linearization method using the inverse hysteresis model is considered and a repetitive controller with PI controllers is designed to improve the tracking performance. For a practical piezoelectric actuator, the polynomials in the nonlinear hysteresis modeling are found and it is shown by simulations that high precision tracking control can be performed by the proposed control system when the reference input is repetitive.