Internal model control approach for designing piezoelectric actuator controller with nonminimum phase

Micro positioning systems using piezoelectric stack actuator (PEA) have a very wide range of applications. However, these positioning responses comprise with nonminimum phase behavior when external force is applied significantly. In this paper, an Internal model control (IMC) approach for PEA is designed to achieve fast and accurate positioning. Piezoelectric actuator motion was compensated by incorporating the robust IMC structure design. Feedforward and feedback loops each with one tuning parameter for each PID/sub 1/D/sub 2/ block was theoretical derived and experimental implemented through PC-based system, where the D/sub 2/ denotes the second derivative. Results show the PEA can perform practically in precise positioning and remain robustly stabilization for high-speed actuation purpose under external disturbance force excitation.