Output feedback integral control of piezoelectric actuators considering hysteresis

•Piezoelectric actuator controller is designed considering the hysteresis effect.•The system is modeled as a linear system with a nonlinearity in the forward path.•The stability of output feedback integral controller is derived.•A maximum gain is established for the integral control.•The analysis is demonstrated experimentally.

In this paper, output feedback integral control of piezoelectric actuators is considered with respect to the hysteresis effect. The linear dynamics of the piezoelectric actuator is modeled as a linear state space system with an input nonlinearity that considers the hysteresis effect. A proof of the Lyapunov stability of the system with integral control is presented, and a method for deriving the upper bound for the regulating gain is shown. A simple example is used to illustrate the approach, and then the approach is applied for tracking a step signal with an experimental single-axis piezoelectric actuator to verify that the system is stable.