Research on Hysteresis of Piezoceramic Actuator Based on the Duhem Model

Table 2

The relative errors of two algorithms.

𝑘	Relative error (gradient correction algorithm)	Relative error (recursive least squares algorithm)
2	−0.0699	−0.0941
4	0.0012	−0.0110
6	0.0225	0.016
8	−0.0034	−0.0065
10	−0.0011	−0.0024
12	0.0021	0.0035
14	0.0055	0.0036
16	−0.0041	0.0086
18	−0.0026	0.0159
20	−0.0167	0.0259
Mean square deviation of the error	0.0222	0.0263
Maximum error	0.048 μm	0.066 μm