An H-infinity almost disturbance decoupling robust controller design for apiezoelectric bimorph actuator with hysteresis

A robust controller design for a piezoelectric bimorph nonlinear actuator i s considered in this paper. The nonlinear dynamics of the actuator are firs t Linearized using the stochastic equivalent linearization method and refor mulated into a standard almost disturbance decoupling problem. Then a robus t controller, which is explicitly parameterized by two tuning parameters, i s carried out using a so-tailed asymptotic time-scale and eigenstructure as signment approach. The parameterized controller can be tuned by adjusting t he parameters to achieve disturbance decoupling and other design goals for the problem that ne consider. Simulation results of time-domain responses s how that the design is very successful in terms of steady-state tracking er ror and settling time as well as other performances.