Iterative feedforward compensation of hysteresis in piezo positioners

In this article, we prove convergence of an iterative control algorithm to find an input that achieves precise positioning in hysteretic systems. In the analysis, the Preisach hysteresis model is used to characterize the nonlinear behavior of the piezo positioner. We quantify the number of iterations required to achieve a prescribed precision. The method is applied to an experimental piezo system to demonstrate its efficacy, and results show that the positioning error can be reduced to the noise level of the sensor measurement.