High performance control of a PZT scanner for fast nanoscale positioning of atomic force microscope

This paper demonstrates the design and experimental implementation of an observer based model predictive control (OMPC) with a notch filter for the positioning of the piezoelectric tube (PZT) scanner of an atomic force microscope (AFM). This control scheme achieves active damping of the resonant mode of the PZT scanner and accurate tracking of a reference triangular signal. Kalman filter is used to obtain full-state information in the presence of position sensor noise. The experimental results confirm the efficacy of the proposed controller.