Modeling and Design of an H-Infinity Controller for a Piezoelectric Actuator LIPCA

Abstract

Proposed are a dynamic model identification and design of an H∞ controller to use the piezoelectric actuator LIPCA. First, a second order dynamic model is obtained using input, output data and applying identification algorithm. The identified model coincides well with real LIPCA output. To reduce the resonating mode, which is typical with piezoelectric actuators, a notch filter is used. Second, a feedback controller utilizing the H∞ control scheme is designed based on the identified dynamic model, so that the LIPCA be easily used as an actuator for biomemetic applications like artificial muscle or macro/micro positioning for experiment in bioengineering. The control algorithm is implemented using a microprocessor, analog filters, and power amplifying drivers. The simulation and experimental results demonstrated that the proposed control algorithm works well in real environment with robust performance and stability with uncertain disturbances.