Stability and robust position control of hysteretic systems
نویسندگان
چکیده
Position control of a wide class of hysteretic systems, that includes those described by a Preisach model, is considered. The main focus of this paper is stability, tracking and the trajectories of a hysteretic system controlled by a PI controller. The system output (not its derivative) is measured and controlled. It is shown that, for arbitrary reference signals, the closed-loop system is BIBO-stable with a finite gain of one. Furthermore, the absolute value of the error decreases monotonically for a constant reference signal. In this case, provided that the desired output is within the limits of the system output, zero steady-state error is guaranteed. A bound on the time required to achieve a specified error is obtained. Only a simple condition on the controller parameters is required. The results imply robust position control, even if errors in the model exist.
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