Micro-positioning of linear piezoelectric motors based on a learning nonlinear PID controller

A learning nonlinear PID controller is developed for vaguely modeled nonlinear systems under significant disturbance and noise. The control scheme is generic in nature, but it is applied specifically to micro-positioning of linear piezoelectric motors. Mathematical models for the piezoelectric motor and the associated friction phenomenon are provided and verified in the simulation and experimental results provided. These results also highlight the good motion control performance achieved from the control scheme.