Asymptotic tracking control of piezoelectric actuators with hysteresis

A piezoelectric actuator (PEA) with hysteretic characteristics is usually difficult to precisely control because the unmeasurable hysteretic force is typically generated by a complicated nonlinear model. In this paper, the global robust tracking problem of a PEA with hysteresis is first studied within an internal model architecture. With the proposed controller, the PEA is able to asymptotically track a desired reference trajectory in the presence of plant uncertainties.