FPGA-Based Compensator of Hysteretic Actuator Nonlinearities for Highly Dynamic Applications

This paper presents the design and construction of an inverse controller for the compensation of hysteretic actuator characteristics. The approach is based on the so-called modified Prandtl-Ishlinskii method. The field-programmable-gate-array-based hardware solution allows hysteresis-free actuator operation at signal frequencies up to 1 kHz. Finally, the effect of hysteresis compensation is presented for an example involving a magnetostrictive actuator.