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

In this paper, a learning nonlinear proportional integral derivative (PID) controller is developed for vaguely modeled nonlinear systems under the influence of significant disturbance and noise. The control scheme is generic in nature, but it is applied specifically to the micropositioning of linear-piezoelectric motors in this paper. The design of the control scheme does not require a full mathematical model of the nonlinear system. Simulation and experimental results are provided to highlight the good motion control performance achieved from the control scheme.