Tracking control of a piezoceramic actuator system using a combined self-tuning regulator and phase-lead compensator

This paper presents the modelling and control of a piezoceramic actuator system. To compensate for the hysteresis effect of the piezoceramic actuator, a self-tuning regulator combined with a feedforward phase-lead compensator is proposed. A dynamic model of the piezoceramic actuator system is derived and analysed using the recursive least-squares method. The self-tuning regulator is designed to achieve the desired tracking performance as well as to deal with system parameter variation based on an identified model. The phase-lead compensator is employed to compensate the phase lag of a tracking response due to the hysteresis effect. Experimental results not only show that the maximum tracking error is significantly reduced if the phase-lead compensator is added in the feedforward loop but they also demonstrate that the proposed controller can obtain a faster transient response and a smaller tracking error than a proportional-integral-derivative (PID) controller.