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This work presents an application of iterative learning control technique to the position tracking of a piezoelectric system. An identification of the closed-loop piezoelectric system was undertaken first, and then an iterative learning control methodology based on the identified ARX model was implemented for tracking the control of the actuator. The methodology differs from the traditional iterative learning method in that it takes into account the difference of predictive input between two successive iterations. The results of the experiment prove the excellence of this technique for delicate tracking control of the piezoelectric actuator.