Further Results on Hysteresis Compensation of Smart Micro-Positioning Systems with the Inverse Prandtl-Ishlinskii Compensator.

International audienceA formula that characterizes the output of the in-verse compensation is derived when the inverse Prandtl-Ishlinskiihysteresis model is applied as a feedforward compensator. Forthat the composition property as well as the initial loading curveof the Prandtl-Ishlinskii model are used to obtain this formula.We demonstrate therefore that the output of the feedforwardcontrolled system is linear versus the input reference with anadditional nonlinear and bounded term. To illustrate the interestof this theoretical result, we propose an experimental applicationwith a piezoelectric actuator. First, we apply the Prandtl-Ishlinskii feedforward technique to control the piezoelectricactuator. Then, the formula of the previous theoretical result isused to construct an H ∞ feedback control from the feedforwardcontrolled actuator. The experimental results demonstrate theefficiency of the calculated controller and therefore the benefitsof the formula concerning the output of the inverse compensation