A Hybrid System for a Class of Hysteresis Nonlinearity: Modeling and Compensation

In this paper we present a novel internal model based control method for hysteresis compensation. A hybrid model is proposed for characterization of the hysteresis non linearity of the well-known play operator (Backlash). The proposed model holds the hysteresis nonlinearity and the memory effects of the play operator. Based on the proposed model, a hybrid controller is designed to compensate for the hysteresis nonlinearity of the play operator. Following an internal model approach, the hybrid controller integrates a hybrid integrator dynamics which is able to estimate asymptotically the unknown value of the threshold characterizing the hysteresis and hence to obtain perfect tracking of a periodic reference signal. Simulation results are also presented to show the capability of the hybrid model to present the hysteresis nonlinearity with memory effects, and the effectiveness of proposed hybrid controller to compensate for the uncertain hysteresis nonlinearity.