Integrated Rate and Inertial dependent Prandtl-Ishlinskii model for piezoelectric actuator

Piezoelectric drive mechanisms consist of piezoelectric materials that actuate the mechanism at different ranges of frequency, as the piezoelectric actuators are subjected to a nonlinear phenomenon of hysteresis which is sensitive to frequency changes. Designing an adaptive hysteretic model facilitates the operation of such mechanisms in general control framework. In this paper, an Integrated Rate and Inertial dependent Prandtl-Ishlinskii model using an exponential function for varying damping factor is proposed for positioning control of a piezoelectric actuator at frequency range between 1 Hz to 200 Hz.