Model reference compensation for hysteresis system based on Extended State Observer

Zhuoyun Nie, Yijing Ma, Qingguo Wang, Dongsheng Guo, Ruijuan Liu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Citations (Scopus)


The exists of hysteresis nonlinearities in some physical system such as piezoelectric actuators can cause reduction of control accuracy and even instability of system. In this paper, a control strategy based on Extended State Observer (ESO) is proposed for systems with hysteresis characteristics to achieve accurate output tracking for the reference model which provides the desired performance. Firstly, a hysteresis nonlinear system was transformed into linear system preceded by hysteresis nonlinear disturbance in input. Secondly, the controlled object model is transformed into Equivalent Feedback Model (EFM) with reference model in forward path and internal disturbance in feedback loop. Then, ESO is designed to estimate and compensate the equivalent disturbance and control law was developed to alleviate the hysteresis effect and achieve desired tracking performance. Simulation results of a piezo-positioning mechanic system illustrate that ESO-based controller has good tracking performance.

Original languageEnglish
Title of host publicationProceedings of the 35th Chinese Control Conference, CCC 2016
EditorsJie Chen, Qianchuan Zhao, Jie Chen
PublisherIEEE Computer Society
Number of pages6
ISBN (Electronic)9789881563910
Publication statusPublished - 26 Aug 2016
Event35th Chinese Control Conference, CCC 2016 - Chengdu, China
Duration: 27 Jul 201629 Jul 2016

Publication series

NameChinese Control Conference, CCC
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927


Conference35th Chinese Control Conference, CCC 2016


  • Extended State Observer (ESO)
  • Hysteresis
  • nonlinear system

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Applied Mathematics
  • Modeling and Simulation


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