Nonlinear Internal Model Control for Hysteresis Systems

A hybrid model used to approximate hysteresis and creep nonlinear system is proposed. This model is constructed by a weighted superposition of both backlash operators and creep operators. Then, the corresponding inverse models for both hysteresis and creep are developed. Based on the obtained models, a nonlinear internal model control strategy is applied to the control of system with hysteresis and creep nonlinearities.