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Dynamic systems with a large and non-smooth hysteresis in the feedforwardchannel challenge the design of feedback control since the instantaneous inputgain is varying during the operation, in the worst case between zero andinfinity. Magnetic shape memory (MSM) actuators with multi-stable transitionsrepresent such untypical system plant with only the output displacement beingmeasured. This paper provides a case study of designing the feedforward andfeedback control system for an MSM-based actuator setup with a fairly highlevel of the output sensing noise. First, the recently introducedinversion-free feedforward hysteresis compensator is adapted for theKrasnoselskii-Pokrovskii operator model. Then, a robust feedbackproportional-integral (PI) loop shaping is performed, while taking into accountthe lagging behavior of the low-pass filtering and system uncertainties.Experimental results show that the parallel action of feedforward and feedbackparts improves the overall performance of position control.

Inversion-free feed-forward and feedback control of MSM based actuator with large non-smooth input hysteresis