Compensating commutation-angle domain disturbances with application to waveform optimization for piezo stepper actuators

Leontine Aarnoudse*, Nard Strijbosch, Paul Tacx, Edwin Verschueren, Tom Oomen

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

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Piezo stepper actuators are very promising for nanopositioning systems due to their high resolution, high stiffness, fast response, and the ability to position a mover over an infinite stroke by means of motion reminiscent of walking. The aim of this paper is to enhance the waveforms for actuating piezo steppers, by actively compensating for repetitive disturbances that are introduced by the walking behavior. A compensation method is developed to compensate for disturbances in the stepping domain, since disturbances may vary in the time domain if the velocity changes. 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
Article number103016
Number of pages14
Publication statusPublished - 2023


  • Feedforward control
  • Iterative learning control
  • Piezo actuators

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