piezoelectric actuators are widely used in micro manipulation applications. however hysteresis nonlinearity limits accuracy of these actuators. this paper presents a novel approach utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. the prandtl-ishlinskii (pi) model is used to model actuator hysteresis in feedforward scheme to cancel out this nonlinearity. a pas...

The external Cayley transform is used for the conversion between the linear dynamical systems in scattering form and in impedance form. We use this transform to define a class of formal impedance conservative boundary control systems (colligations), without assuming a priori that the associated Cauchy problems are solvable. We give sufficient and necessary conditions when impedance conservative...

passive system cannot deliver more energy than what is stored. Typically, a passive system delivers less than what is stored since useful energy is invariably and irreversibly lost through friction and other dissipative processes that convert useful work into heat. Such properties show that passivity is related to principles used to develop mathematical models for all kinds of physical systems....