A novel practical control approach for rate independent hysteretic systems.
ABSTRACT A disturbance rejection based control approach, active disturbance rejection control (ADRC), is proposed for hysteretic systems with unknown characteristics. It is an appealing alternative to hysteresis compensation because it does not require a detailed model of hysteresis, by treating the nonlinear hysteresis as a common disturbance and actively rejecting it. The stability characteristic of the ADRC is analyzed. It is shown that, in the face of the inherent dynamic uncertainties, the estimation and closed-loop tracking errors of ADRC are bounded, with their bounds monotonously decreasing with the observer and controller bandwidths, respectively. Simulation results on a typical hysteretic system further demonstrate the effectiveness of the proposed approach.