Tracking position control of piezoelectric actuators for periodic reference inputs

Gi Sang Choi, Yo An Lim, Gi Heung Choi

Research output: Contribution to journalArticlepeer-review

66 Scopus citations


The hysteresis characteristic is one of the major setbacks in precise tracking position control of piezoelectric actuators. In this paper, a position control method for a piezoelectric actuator is presented. The controller is based on PID control method augmented with feedback linearization loop. The feedback linearization loop uses a plant model drawn from the Maxwell slip model. The control strategy is then further extended to include a repetitive control algorithm for tracking periodic inputs. Experiments were performed on a 2-axis linear positioner driven by piezoelectric actuators. The experimental results show that the tracking performance is noticeably improved by augmenting a PID controller with both feedback linearization loop and a repetitive controller.

Original languageEnglish
Pages (from-to)669-684
Number of pages16
Issue number5
StatePublished - Jun 2002


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