Hysteresis modeling based on saturation operator without constraints

This paper proposes a simple way to model complex hysteresis in a magnetostrictive actuator by employing the saturation operators without constraints. Having no constraints causes a singularity problem, i.e. the inverse matrix cannot be obtained during calculating the weights. To overcome it, a pseudoinverse concept is introduced. Simulation results are compared with the experimental data, based on a Terfenol-D actuator. It is clear that the proposed model is much closer to the experimental data than the modified PI model. The relative error is calculated as 12% and less than 1% with the modified PI Model and proposed model, respectively.