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Piezo actuated system is a promising solution for precision positioning applications. In this paper, piezoelectric actuator is modelled as second order system using Dahl hysteresis model and the system parameters have been identified from experimental data. Modified Internal Model Control (M-IMC) approach is presented which not only improves control performance but also reduces associated controller hardware resource. System dead time is approximated using first order Padé‘s expansion and proposed Smith Predictor based M-IMC for piezoelectric actuator is seen to offer satisfactory stable control response even for plants with large dead time. The control performance of the M-IMC has been examined for the piezo actuator system against different set point tracking inputs in presence of wide range of external disturbances e.g. plant parameter mismatch, white noise perturbation, time delay, etc. Simulation results depict the efficacy and versatility of M-IMC in terms of decreased overshoot and settling time compared to traditional IMC and PID designs.

Model-based control for second-order piezo actuator system with hysteresis in time-delay environment