Commutation angle iterative learning control: enhancing piezo-stepper actuator waveforms

Nard Strijbosch (Corresponding author), P.J.M.M. Tacx (Corresponding author), Edwin R.M. Verschueren (Corresponding author), Tom A.E. Oomen (Corresponding author)

Research output: Contribution to journalConference articlepeer-review

3 Citations (Scopus)
93 Downloads (Pure)


Piezo-stepper actuators consist of piezo elements that are able to displace a mover over an infinite stroke through walking while maintaining the high accuracy and high stiffness properties of the piezo elements. The aim of this paper is to mitigate repetitive disturbances, that are introduced by the walking behaviour, to improve the performance of piezo-stepper actuators. The key challenge is to address repeating disturbances in the position domain, which may be varying in the time domain. A new position-domain iterative learning control procedure is presented that computes a signal in the commutation angle domain that mitigates the repetitive disturbances. The results from this procedure are exploited to determine an optimal waveform for the working range of the actuator. A significant improvement in performance is achieved after applying this waveform to a piezo-stepper actuator.

Original languageEnglish
Pages (from-to)579-584
Number of pages6
Issue number15
Publication statusPublished - Sept 2019
Event8th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2019 - Vienna, Austria
Duration: 4 Sept 20196 Sept 2019


  • Actuating signal
  • Learning control
  • Piezo actuators
  • Learning Control
  • Actuating Signal
  • Piezo Actuators


Dive into the research topics of 'Commutation angle iterative learning control: enhancing piezo-stepper actuator waveforms'. Together they form a unique fingerprint.

Cite this