Hysteresis Feedforward Compensation: A Direct Tuning Approach Using Hybrid-MEM-Elements

Compensation of hysteresis enables substantial performance improvements, e.g., in case of piezoelectric actuators. The aim of this letter is to develop a systematic manual tuning approach for a feedforward controller that compensates for hysteresis phenomena. Modelling the hysteresis phenomena using a hybrid-memory-element enables the determination of a feedforward controller for which the influence of each of the feedforward parameters can be distinguished in the error during a closed-loop experiment. This allows for a direct systematic approach to tune the feedforward parameters resulting in a feedforward controller relevant for closed-loop control without the need for an extensive identification procedure.