An RST Control Design Based on Interval Technique for Piezomicropositoning Systems with Rate-Dependent Hysteresis Nonlinearities

We propose a feedforward-feedback control of piezomicropositioning systems for precise positioning over different operating conditions. Such systems exhibit rate-dependent hysteresis nonlinearities and badly damped oscillations characteristics. First, we introduce a rate-dependent Prandtl-Ishlinskii inverse model for feedforward compensation of hysteresis. This yields to compensation that can be described with an uncertain linear model with disturbances. To model the uncertainties, we use intervals. Then we propose a new interval design for a RST structured feedback controller. The proposed method permits to satisfy prescribed performances. Simulation and experiments on a piezoelectric actuator are carried out and show the efficiency of the proposed controller.