The Prandtl–Ishlinskii Hysteresis Model: Fundamentals of the Model and Its Inverse Compensator [Lecture Notes]

Hysteresis is a nonlinear phenomenon arising in diverse fields such as mechanics, biology, electronics, and economics [1] (see “Summary”). In particular, hysteresis is ubiquitously exhibited by various smart materials, such as piezoelectrics, magnetostrictives, and shape memory alloys [2] , [3] . These materials show inherent coupling between mechanical properties and electrical/magnetic/thermal fields; therefore, they can be used as sensors and actuators. For different smart material applications, hysteresis is a main source of nonlinearity, which creates challenges in the control of these systems.