NTNU Fakultet for informasjonsteknologi,Norges teknisk-naturvitenskapelige matematikk og elektroteknikkuniversitet Institutt for teknisk kybernetikk

Name of the candidate: Jon Åge StakvikSubject: Engineering CyberneticsTitle: Hysteresis modeling and identification for nanopositioning

BackgroundNanopositioning is positioning of some device with nanometer accuracy. This kind ofperformance is impossible without feed-forward and feedback control, and as such, controlsystems design is a key enabling technology for many nano-science applications and inparticular nanopositioning. The atomic force microscope (AFM) is one of the foremost tools forimaging, measuring and manipulation at the nanometer scale. In this work, experiments are tobe done at the nanopositioning lab at the Department of Engineering Cybernetics and using aPark Systems XE-70 AFM and other positioning stages. In this work, the candidate will furtherinvestigate hysteresis models, inversion and identification methods for such models.Hysteresis appear as an unwanted phenomenon in the piezoelectric actuators of thepositioning stage of the AFM. This master th year projectwork1.

Assignment:1. Perform a literature review on experiment design; with focus on hysteresis

model identification. Use 2 as a starting point.2. By using experiment design, devise experiments to identify hysteresis models

(primarily Preisach-model) in some optimal way, based on design of inputsignals.

3. Validate (compare model to experiment) identified hysteresis models undervarious conditions. Try to find the cases where the most mismatch betweenmodel and experiment occur, and the best match occur (the extreme cases).

4. Simulate, and then implement an inverse compensator and performexperiments on the nanopositioning lab. Compare the performance when usinginverse models based on different identification conditions (i.e. worst and bestcase).

5. Study the effect of signal loop errors, such as negative phase, on hysteresisidentification for the Preisach-model. Compare the model-measurementrelationship for various input frequencies.

To be handed in by: 7/7-2014Co-supervisors: PhD-student Michael Ragazzon, post.doc. Arnfinn Aas Eielsen

Trondheim, 03.02.2014

_____________________Jan Tommy GravdahlProfessor, supervisor

1 J.Å. Stakvik, Parameter identification for hysteresis models in nanopositioning, 5th year project, ITK, 20132 G.C. Goodwin, Dynamic System Identification: Experiment Design and Data Analysis, Academic Press, 1977