Iterative Learning Control for V-Shaped Electrothermal Microactuator

Abstract

The paper introduces a modified version of a Proportional Integral Derivative (PID)-type iterative learning algorithm, which is very simple to implement on a digital control device for tracking control of a continuous-time system. The simulative application of it is for controlling a V-shaped electrothermal microactuator (VEM) and is carried out by using a Simscape model of VEM for the purpose that the asymptotic tracking behavior of system output to desired trajectory will be verified in a virtually real environment. Obtained simulation results confirm that the introduced iterative learning algorithm has not only provided a good output tracking behavior, as expected, but also is robust in the sense of reducing external disturbance effects.