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Mathematical Problems in Engineering
Volume 2014, Article ID 856706, 6 pages
Research Article

Iterative Learning Control of Hysteresis in Piezoelectric Actuators

1College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao 266590, China
2School of Mechanical, Electrical and Information Engineering, Shandong University at Weihai, Weihai 264209, China
3College of Mathematics and Systems Science, Shandong University of Science and Technology, Qingdao 266590, China

Received 2 April 2014; Accepted 8 May 2014; Published 25 May 2014

Academic Editor: Qingsong Xu

Copyright © 2014 Guilin Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


We develop convergence criteria of an iterative learning control on the whole desired trajectory to obtain the hysteresis-compensating feedforward input in hysteretic systems. In the analysis, the Prandtl-Ishlinskii model is utilized to capture the nonlinear behavior in piezoelectric actuators. Finally, we apply the control algorithm to an experimental piezoelectric actuator and conclude that the tracking error is reduced to 0.15% of the total displacement, which is approximately the noise level of the sensor measurement.