{"id":"https://openalex.org/W3047328457","doi":"https://doi.org/10.1109/access.2020.3013570","title":"Robust \u03bc-Synthesis With Dahl Model Based Feedforward Compensator Design for Piezo-Actuated Micropositioning Stage","display_name":"Robust \u03bc-Synthesis With Dahl Model Based Feedforward Compensator Design for Piezo-Actuated Micropositioning Stage","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3047328457","doi":"https://doi.org/10.1109/access.2020.3013570","mag":"3047328457"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3013570","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3013570","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09154371.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09154371.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101616950","display_name":"Irfan Ahmad","orcid":"https://orcid.org/0000-0002-6206-9439"},"institutions":[{"id":"https://openalex.org/I28022161","display_name":"King Saud University","ror":"https://ror.org/02f81g417","country_code":"SA","type":"education","lineage":["https://openalex.org/I28022161"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Irfan Ahmad","raw_affiliation_strings":["Department of Electrical Engineering, College of Engineering, King Saud University, Riyadh, Saudi Arabia"],"raw_orcid":"https://orcid.org/0000-0002-6206-9439","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, College of Engineering, King Saud University, Riyadh, Saudi Arabia","institution_ids":["https://openalex.org/I28022161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030412259","display_name":"Mahmoud al Ahmad Ali","orcid":"https://orcid.org/0000-0002-7169-7752"},"institutions":[{"id":"https://openalex.org/I28022161","display_name":"King Saud University","ror":"https://ror.org/02f81g417","country_code":"SA","type":"education","lineage":["https://openalex.org/I28022161"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Mahmoud A. Ali","raw_affiliation_strings":["Department of Electrical Engineering, College of Engineering, King Saud University, Riyadh, Saudi Arabia"],"raw_orcid":"https://orcid.org/0000-0002-7169-7752","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, College of Engineering, King Saud University, Riyadh, Saudi Arabia","institution_ids":["https://openalex.org/I28022161"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005209033","display_name":"Wonsuk Ko","orcid":"https://orcid.org/0000-0003-1950-9184"},"institutions":[{"id":"https://openalex.org/I28022161","display_name":"King Saud University","ror":"https://ror.org/02f81g417","country_code":"SA","type":"education","lineage":["https://openalex.org/I28022161"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Wonsuk Ko","raw_affiliation_strings":["Department of Electrical Engineering, College of Engineering, King Saud University, Riyadh, Saudi Arabia"],"raw_orcid":"https://orcid.org/0000-0003-1950-9184","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, College of Engineering, King Saud University, Riyadh, Saudi Arabia","institution_ids":["https://openalex.org/I28022161"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.6383,"has_fulltext":true,"cited_by_count":19,"citation_normalized_percentile":{"value":0.83609409,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"141799","last_page":"141813"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9915000200271606,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11096","display_name":"Aeroelasticity and Vibration Control","score":0.9901999831199646,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.9122172594070435},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.8930334448814392},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6185770630836487},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6096464991569519},{"id":"https://openalex.org/keywords/hysteresis","display_name":"Hysteresis","score":0.5533435940742493},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5236513614654541},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5222264528274536},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5181804299354553},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.43090584874153137},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4243006408214569},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4111379086971283},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31788185238838196},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18321570754051208},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08288270235061646},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0691937804222107}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.9122172594070435},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.8930334448814392},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6185770630836487},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6096464991569519},{"id":"https://openalex.org/C123299182","wikidata":"https://www.wikidata.org/wiki/Q190837","display_name":"Hysteresis","level":2,"score":0.5533435940742493},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5236513614654541},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5222264528274536},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5181804299354553},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.43090584874153137},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4243006408214569},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4111379086971283},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31788185238838196},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18321570754051208},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08288270235061646},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0691937804222107},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3013570","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3013570","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09154371.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:680adc1bf38447a691f37591503a7e7d","is_oa":true,"landing_page_url":"https://doaj.org/article/680adc1bf38447a691f37591503a7e7d","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 141799-141813 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3013570","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3013570","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09154371.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G6713468917","display_name":null,"funder_award_id":"RG-1439-028","funder_id":"https://openalex.org/F4320335726","funder_display_name":"Deanship of Scientific Research, King Saud University"}],"funders":[{"id":"https://openalex.org/F4320321145","display_name":"King Saud University","ror":"https://ror.org/02f81g417"},{"id":"https://openalex.org/F4320335726","display_name":"Deanship of Scientific Research, King Saud University","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3047328457.pdf","grobid_xml":"https://content.openalex.org/works/W3047328457.grobid-xml"},"referenced_works_count":56,"referenced_works":["https://openalex.org/W611561342","https://openalex.org/W1516847695","https://openalex.org/W1675529102","https://openalex.org/W1741097102","https://openalex.org/W1753494468","https://openalex.org/W1992094732","https://openalex.org/W1999135639","https://openalex.org/W1999995545","https://openalex.org/W2015128267","https://openalex.org/W2023312013","https://openalex.org/W2029144241","https://openalex.org/W2031760758","https://openalex.org/W2042473022","https://openalex.org/W2050554494","https://openalex.org/W2058209887","https://openalex.org/W2065252202","https://openalex.org/W2065325399","https://openalex.org/W2075540265","https://openalex.org/W2079391994","https://openalex.org/W2103920070","https://openalex.org/W2124851515","https://openalex.org/W2166271005","https://openalex.org/W2166552852","https://openalex.org/W2278218000","https://openalex.org/W2287839913","https://openalex.org/W2291529303","https://openalex.org/W2314670477","https://openalex.org/W2321882833","https://openalex.org/W2407581462","https://openalex.org/W2464768678","https://openalex.org/W2473714901","https://openalex.org/W2475131923","https://openalex.org/W2586430134","https://openalex.org/W2601460653","https://openalex.org/W2769523610","https://openalex.org/W2773432988","https://openalex.org/W2775760735","https://openalex.org/W2775779235","https://openalex.org/W2781458206","https://openalex.org/W2792312766","https://openalex.org/W2792502737","https://openalex.org/W2793988539","https://openalex.org/W2796554156","https://openalex.org/W2801516068","https://openalex.org/W2803564891","https://openalex.org/W2883590797","https://openalex.org/W2884661674","https://openalex.org/W2900875363","https://openalex.org/W2974430906","https://openalex.org/W2978427269","https://openalex.org/W2979342729","https://openalex.org/W2999925343","https://openalex.org/W3007288004","https://openalex.org/W3023973213","https://openalex.org/W4230518117","https://openalex.org/W4233183995"],"related_works":["https://openalex.org/W2286391053","https://openalex.org/W2982600058","https://openalex.org/W1963486701","https://openalex.org/W2312483540","https://openalex.org/W4249477090","https://openalex.org/W191745111","https://openalex.org/W1522083559","https://openalex.org/W2077728074","https://openalex.org/W2984509520","https://openalex.org/W2089306986"],"abstract_inverted_index":{"In":[0],"this":[1,118],"article,":[2],"a":[3,17],"combined":[4,141],"feedback-feedforward":[5],"control":[6,42,72,163,198,226],"design":[7,69],"scheme":[8,43,164],"is":[9,44,83,103,124,139,150,217],"presented":[10,41,71,162,225],"to":[11,105,131],"enhance":[12],"the":[13,23,28,35,40,52,70,77,81,86,92,107,112,153,159,166,169,173,178,194,197,207,214,221,224],"tracking":[14,175,215],"performance":[15,57,176],"of":[16,27,34,39,65,75,80,111,155,158,168,177,190,196,203,223],"piezo-actuated":[18],"micropositioning":[19,180],"stage":[20],"by":[21,50,90],"compensating":[22,206],"nonlinear":[24,108],"hysteretic":[25,109],"behavior":[26,110],"piezoelectric":[29,113],"actuator":[30],"and":[31,55,172,210],"model":[32,79,102,129,156],"uncertainties":[33,157],"system.":[36,160],"Detailed":[37],"investigation":[38],"performed":[45],"not":[46],"only":[47],"in":[48,60,152,205,212],"simulation":[49],"analyzing":[51],"robust":[53,56,146],"stability":[54],"but":[58],"also":[59],"real-time":[61,87],"with":[62,117,142,187],"motion":[63,188],"trajectories":[64,189],"multiple":[66,191],"frequencies.":[67],"To":[68,115],"scheme,":[73],"first":[74],"all,":[76],"dynamic":[78],"system":[82],"identified":[84],"from":[85],"experimental":[88,183],"data":[89],"using":[91],"recursive":[93],"least":[94],"squares":[95],"parameter":[96],"adaptation":[97],"algorithm.":[98],"Then,":[99],"Dahl":[100,121],"hysteresis":[101,119,208],"considered":[104,179],"represent":[106],"actuator.":[114],"deal":[116],"nonlinearity,":[120],"feedforward":[122,137],"compensator":[123,138],"designed":[125,151],"without":[126],"involving":[127],"inverse":[128],"calculations":[130],"avoid":[132],"any":[133],"computational":[134],"complexity.":[135],"This":[136],"then":[140],"$\\mu":[143],"$":[144],"-synthesis":[145],"feedback":[147],"controller":[148],"which":[149,219],"presence":[154],"The":[161],"ensures":[165],"boundedness":[167],"closed-loop":[170],"signals":[171],"desired":[174],"stage.":[181],"Finally,":[182],"tests":[184],"are":[185],"conducted":[186],"frequencies":[192],"for":[193],"validation":[195],"scheme.":[199,227],"An":[200],"average":[201],"improvement":[202],"95%":[204],"nonlinearity":[209],"80%":[211],"reducing":[213],"error":[216],"achieved":[218],"demonstrates":[220],"efficacy":[222]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
