Proceedings of the 2017 IEEE/SICE International Symposium
on System Integration, Taipei, Taiwan, December 11-14, 2017
The extended Bouc-Wen model with structural element and its
application to the compensation of rate-dependent hysteresis of a
piezoelectric actuator
Ken’ichi Tatebatake∗ and Fumitake Fujii∗
Abstract— This paper proposes the extended Bouc-Wen
model to capture the hysteretic behavior of the piezoelectric
actuator. The proposed model adds additional terms to the
basic Bouc-Wen model to explain the behaviors commonly
observed with the thin piezoelectric actuators which include
the rate-dependence, asymmetric loop formation and the phase
lag. Remaining part of the paper is devoted to the synthesis
of the hysteresis compensator using the proposed model. It
has been shown through the experimental results that the
identified model provides good modeling accuracy and high
control performance as well, as compared to the results obtained
with the classical Bouc-Wen model.
I. INTRODUCTION
Recent improvements on the manufacturing technology
enable the production of small and highly integrated devices
both for consumer and industry markets. This invokes the
demands for the development of small actuators. Piezoelec-
tric actuators attract great attentions of the researchers and
practitioners in the field because of the advantages in their
size, fast response, high force generation and fine positioning
resolution. Applications can be found in the literature which
include the atomic force microscope nanopositioner[1], micro
robot[2], and the positioning control of the head of the hard
disk drives[3].
However, it is known that the piezoelectric actuator ex-
hibits hysteresis between its input and the output. Positioning
accuracy of the piezoelectric actuators will be severely
deteriorated if no adequate hysteresis compensation is given.
It is also known that the characteristics of the hysteresis may
differ when the rate/frequency of the driving signal varies.
This phenomenon is often referred to as the rate-dependent
hysteresis[4]. Great efforts have been devoted to the modeling
and compensation of the rate-dependent hysteresis of the
piezoelectric actuators.
Many mathematical models have been developed to cap-
ture the hysteretic behavior of the piezoelectric actuator. Two
major lines exist in the development of the phenomenological
models of hysteresis. One is to use the hysteretic operators
with associated distribution functions to capture the behavior
of the hysteresis. Examples include the Preisach model[12],
the Prandtl-Ishlinskii model[5], the Play model and the Stop
model[13]. The other is to utilize the differential equation as
the key component of the model. Prime example of the latter
∗ K. Tatebatake and F. Fujii are with the Graduate School of
Science and Technology for Innovation, Yamaguchi University, Japan
w033vd@yamaguchi-u.ac.jp
978-1-5386-2263-6/17/$31.00 ©2017 IEEE
:H&
which suits well to the model-based hysteresis compensator
design is the Bouc-Wen model[7].
One has to increase the number of parameters in the model
to increase its accuracy if the effort is put on the hysteresis
operator based mathematical models. The Bouc-Wen model
on the other hand requires small number of parameters to
capture the hysteretic behavior. The basic Bouc-Wen model
requires only 4 parameters. The authors recently proposed
the enhanced Bouc-Wen model[8] to capture the aforemen-
tioned eccentric behavior of the real world piezoelectric
actuator which includes 20 parameters, whereas our previous
work[9] shows that we need to determine 5050 parameters
when we try to establish the Preisach model which exhibits
almost the same precision as the enhanced Bouc-Wen model.
Various controllers have been developed to compensate
the hysteretic behavior of the piezoelectric actuators using
the Bouc-Wen model. Rakotondrabe[6] recently proposed the
direct inverse multiplication method for the compensation of
hysteresis of the piezoelectric actuator. The structure of the
Bouc-Wen model plays a key role on the derivation of the
algorithm. Its practical advantage lies in the extreme easiness
of the implementation and the low computation cost. Yang
et al.[10] synthesized a 2 d.o.f. control based on the Bouc-
Wen model to improve the trajectory tracking accuracy of
the MFC actuator. The parameters of the Bouc-wen model
for the actuator were identified by the genetic algorithm.
Zhu and Rui[11] formulated a generalized Bouc-Wen model
for the hysteresis characteristics of the piezoelectric actuator
by combining the modified Bouc-Wen model with a 2nd
order system element which is responsible for the structural
dynamics of the actuator. They also constructed a 2 d.o.f.
control system whose controllers are determined from the
identified models. The compensators developed in the latter
two are the extended versions of the compensator proposed
by Rakotondrabe[6].
However, as the basic Bouc-Wen model forms a clockwise
hysteresis loop which is symmetric with respect to the origin
of the input/output plane, and as it cannot exhibit rate-
dependent behavior, straightforward application of the Bouc-
Wen model to the real world piezoelectric actuators only pro-
duces limited accuracy. Modification of the model structure
and/or the augmentation of the model should therefore be
considered when one tries to synthesize a high performance
motion controller of the piezoelectric actuator based on the
Bouc-Wen model.
Along with the lines, this paper proposes the new extended

Bouc-Wen model which provides enhanced modeling capa-
bility. The proposed extended Bouc-Wen model combines the
modified Bouc-Wen model with the 3rd order linear model
to capture the behavior of the bimorph type piezoelectric
actuator which exhibits rate-dependent hysteresis. The pro-
posed extended Bouc-Wen model can form the asymmetric
hysteresis loop and exhibit the rate-dependent behavior as
well. We also propose the hysteresis compensator design for
the piezoelectric actuator which is the augmented/improved
version of the recent excellent work by Rakotondrabe[6].
This paper has six sections. Section 2 describes the basic
Bouc-Wen model and introduces the proposed extended
Bouc-Wen model. Section 3 briefly states the procedure of
the on-line parameter identification. Details of the hysteresis
compensator design are disclosed in section 4. Section 5
shows the result of the experimental verification of the
performance of the proposed control system. Summaries
together with some future work implications will be given
in section 6 to conclude the paper.
II. M ODELING THE BEHAVIOR OF THE PIEZOELECTRIC
ACTUATOR
A. Bouc-Wen model
The basic version of the Bouc-Wen model[14] is a form
of the phenomenological mathematical models of hysteresis
which uses a differential equation. The basic Bouc-Wen
model is characterized by
ḣ = Au̇ − γ |h|n u̇ − β |u̇||h|n−1 h, (1)
where u is the input and h is the model output. The
parameters A, γ , β and n are related to the geometrical char-
acteristics of the hysteresis loop. To be specific, A governs
the amplitude, γ and β determine the shape, and n defines
the smoothness, respectively. Fig. 1 shows an example of
a hysteresis loop depicted numerically with the Bouc-Wen
model (1). Following the result disclosed by Ismail et al.[16],
n is set to be unity throughout this paper. The Bouc-Wen
model in this case is simplified to
ḣ = Au̇ − γ |h|u̇ − β |u̇|h. (2)
B. Modification of the Bouc-Wen model
Fig. 2 depicts the relationship between the input voltage
and the output displacement of the piezoelectric actuator
used in this study. It can be seen from the figure that the
center of the hysteresis loop is not located at the origin of
the input/output plane and the loop is counterclockwise. The
Bouc-Wen model on the other hand forms a clockwise loop
which is symmetric about the origin, as evidenced from Fig.
1. This observation reveals that modification of the structure
of the Bouc-Wen model is necessary to capture the hysteresis
loop whose center is off the origin of the input/output plane.
The modified model is given by
ḣ = Au̇ − γ |ḣ|u̇ − β |u̇|ḣ + A0 |u̇|, (3)
Fig. 1 An example of the response of the basic Bouc-Wen
model to a sinusoidal input. The Bouc-Wen model exhibits a
clockwise loop whose center is the origin of the input/output
plane.
Fig. 2 An example of the observed hysteresis loop of the
piezoelectric actuator used in this study. It is an input/output
trajectory for a 5Hz sinusoidal wave input of 1V amplitude.
Notice that the hysteresis loop is not centered at the origin
and the loop circulates in the counter-clockwise direction.
where A0 is the additionally employed model parameter of
the modified Bouc-Wen model. Introduction of the additional
term A0 |u̇| to the model enables us to modify the sensitivity
of the model response to u̇ depending on its sign sgn(u̇), as
described by the equation

(A + A0 )u̇ u̇ > 0
Au̇ + A0 |u̇| = (4)
(A − A0 )u̇ u̇ < 0.
Fig. 3 shows an example of the hysteresis loop produced
by the modified Bouc-Wen model (3). It can be seen from
the figure that the model (3) exhibits a hysteresis loop
whose center is off the origin of the input/output plane. The
modified Bouc-Wen model is further altered here to form
a counterclockwise hysteresis loop. Fig. 4 shows the idea.
This additional modification of the model results in the set
of equations represented by
ḣ = Au̇ − γ |ḣ|u̇ − β |u̇|ḣ + A0 |u̇|
yt = A1 u − h, (5)
where another additional parameter A1 defines the slope of
the linear response and yt is the output of the model. This
model (5) is the extended version of the classical Bouc-
Wen model fitted to the piezoelectric actuator. The proposed
model (5) is discretized here to facilitate the digital com-
puter implementation of the hysteresis compensator based


Fig. 3 An example of the hysteresis loop of the modified
Bouc-Wen model. The modified Bouc-Wen model can form
asymmetric hysteresis loop whose center is off the origin of
the input/output plane.
Fig. 4 The 2nd modification of the Bouc-Wen model. It
includes the negation of h and the linear augmentation based
on the input signal.
Fig. 5 An example of the hysteresis loop of the extended
Bouc-Wen model (6). It is a counterclockwise hysteresis
loop.
on this model. The result is expressed by the following two
equations
h[k] = h[k − 1] + A(u[k] − u[k − 1]) − A0 |u[k] − u[k − 1]|
−γ |h[k − 1]|(u[k] − u[k − 1]) − β |u[k] − u[k − 1]|h[k − 1]
yt [k] = A1 u[k] − h[k], (6)
where k(k = 1, 2, · · · ) denotes the sampling number. Fig. 5
shows an example of the hysteresis loop obtained with (6).
C. Model for a bimorph type piezoelectric actuator
Fig. 6 shows the input voltage excitation of 2Hz sinusoid
and the output displacement of the piezoelectric actuator
used in this study, whereas Fig. 7 shows the same input and
output plots where the input frequency is altered to 30Hz.
Comparison of Fig.7 with Fig.6 clearly reveals that the phase
lag is observed in the 30Hz response. The phase lag in the
Fig. 6 Input/output trajectory of the piezoelectric actuator
when a 2Hz sinusoidal wave input of 1V amplitude is given
to the piezo driver.
Fig. 7 Input/output trajectory of the piezoelectric actuator
when a 30Hz sinusoidal wave input of 1V amplitude is fed
to the piezo driver. Phase lag can be clearly observed in its
response.
response can often be observed in the real world piezoelectric
actuator. Some fundamental thought in physics raises a
hypothesis that the model should equip a component which
is able to capture the structural behavior of the thin bimorph
type piezoelectric actuator. We accordingly introduce the IIR
filter into the model to express the phase lag of the actuator.
The final form of the proposed extended Bouc-Wen model
results in the set of equations described by
h[k] = h[k − 1] + A(u[k] − u[k − 1]) − A0 |u[k] − u[k − 1]|
−γ |h[k − 1]|(u[k] − u[k − 1]) − β |u[k] − u[k − 1]|h[k − 1]
y[k] = y[k − 1] + a1 y[k − 2] + a2 y[k − 3] + A1 u[k] − h[k], (7)
where a1 ,a2 ,A1 ,A,γ ,β and A0 are the parameters which
determine the behavior of this extended Bouc-Wen model
and y[k] represents the displacement output of the bimorph
type piezoelectric actuator. An example of the hysteresis loop
generated with the extended Bouc-Wen model is given in Fig.
8. It can be seen from the figure that the proposed extended
Bouc-Wen model shows a hysteresis loop with phase lag.
III. C OMPENSATION OF HYSTERESIS USING THE
PROPOSED EXTENDED B OUC -W EN MODEL
A. Parameter identification of the extended Bouc-Wen model
The extended Bouc-Wen model has been shown to have
the potential to express the characteristic behaviors which
are observed with the piezoelectric actuators exhibiting the
rate-dependent hysteresis. However, it is crucially important
to identify the parameters of the model to capture the
behavior of the actuator with satisfactory precision. We use

Fig. 8 An example of the hysteretic responses of the
proposed extended Bouc-Wen model (7) for sinusoidal inputs
of 1Hz and 25Hz. It can be seen that the model can form a
counterclockwise hysteresis loop with phase lag when the
input signal frequency is high. It can also be evidenced
from the figure that the proposed extended Bouc-Wen model
exhibits rate-dependence.
Fig. 9 The schematic diagram of feedforward control.
The hysteresis element of the identified model is used to
counteract the hysteresis element of the piezoelectric actuator
during compensation.
the recursive least squares (RLS) algorithm to determine the
parameters of the model. It is easy to see that the extended
Bouc-Wen model (7) can be written in the linear regression
form
y[k] = y[k − 1] + θ T [k]X
X [k], (8)
where
 T
θ= a1 , a2 , A1 , A, A0 , β, γ
is the vector of parameters and
 k
X = y[k − 2], y[k − 1], u[k], ∑ (u[i] − u[i − 1]),
i=1
k k
∑ |u[i] − u[i − 1]|, ∑ |u[i] − u[i − 1]|h[i − 1],
i=1 i=1
k T
∑ |h[i − 1]|(u[i] − u[i − 1])
i=1
is the regression vector. The model error e is then defined
by
e[k] = ŷ[k] − θ T [k]X
X [k], (11)
Fig. 10 Schematic diagram of the experimental apparatus.
The PC sends command signal to the piezo driver. The driven
amplifies the command signal and drives the actuator. The
displacement of the actuator is measured with the capacitance
type displacement sensor M-2218.
TABLE I Initial parameters of the proposed extended Bouc-
wen model.
The initial parameters
a1 0
a2 0
A1 0.01
A 5.0× 10−3
A0 0
γ 1.0× 10−3
β 1.0× 10−3
where ŷ[k] is a signal characterized by
ŷ[k] = yd [k] − y[k − 1],
with yd [k] being the output measurement of the actuator at
the sampling instance k in the identification experiment.
B. Hysteresis Compensation based on the extended Bouc-
Wen model
The feedforward controller based on the extended Bouc-
Wen model is proposed here in order to achieve the linear
drive of the piezoelectric actuator. This controller owes its
theoretical basis to the direct inverse multiplication proposed
by Rakotondrabe[6].
Suppose that the parameters of the extended Bouc-Wen
model are appropriately identified to capture the behavior of
, (9) the actuator accurately. Then the problem is to determine the
control input ν [k] so that y[k] in (7) would be identical to
the desired trajectory d[k]. If we replace y[k] of (7) with the
desired trajectory d[k], a simple algebraic calculation derives
the control law ν [k] which is described by
h[k] = h[k − 1] + A(ν [k] − ν [k − 1]) − A0 |ν [k] − ν [k − 1]|
−γ |h[k − 1]|(ν [k] − ν [k − 1]) − β |ν [k] − ν [k − 1]|h[k − 1]
d[k] − d[k − 1] − a1 d[k − 2] − a2 d[k − 3] + h[k − 1]
(10) ν [k] =
A1
.
(12)
The desired trajectory d[k] is determined by
d[k] = α u[k], (13)

Fig. 11 RMS errors between the actuator response and the
model output calculated for 1 to 30Hz sinusoidal inputs.
Dotted line shows the RMS value of the ambient sensor
noise.
Fig. 12 The phase difference between the model output(18)
and the actuator response calculated for 1 to 30Hz.
Fig. 13 The phase difference between the proposed extend
Bouc-Wen model output and the actuator response calculated
for 1 to 30Hz. Phase lag characteristics are successfully
captured at most of the input frequencies.
where α is a frequency dependent parameter to specify the
desired trajectory. As the amplitude of the response varies as
a function of input sequence frequency, it is natural to use
k=1 yd [k]u[k]
∑m
α= (14)
∑mk=1 u[k]
2
for equation (13) where u[k] is the input sequence used in
the identification experiment and yd [k] is the corresponding
displacement output of the actuator. Fig. 9 shows a schematic
diagram of the proposed feedforward controller. The pro-
posed extended Bouc-Wen model identified is used directly
to cancel the hysteresis characteristics of the piezoelectric
actuator.
IV. E XPERIMENTAL VALIDATION
A. Experimental device
Fig. 10 shows a schematic diagram of the experimental
equipment used in this study. The piezoelectric actuator used
Fig. 14 RMS errors between the actuator response and the
desired displacement calculated for 1 to 30Hz sinusoidal
inputs. Dotted line shows the RMS value of the ambient
sensor noise.
Fig. 15 The phase difference between the actuator response
and the desired displacement calculated for 1 to 30Hz, when
the feedforward compensator is synthesized with the basic
Bouc-Wen model. Intrinsic phase lag of the actuator cannot
be compensated in almost all frequencies tested.
Fig. 16 The phase difference between the actuator response
and the desired displacement calculated for 1 to 30Hz,
when the feedforward compensator is synthesized with the
proposed extended Bouc-Wen model. Phase lags have been
eliminated successfully with only a few exceptional frequen-
cies.
in this study is a bimorph piezoelectric actuator (FDK,PZBA-
00030). The experimental calculations are done in real time
by the PC in which a real-time OS ART-Linux is installed.
The PC has a CPU (AMD, phenom X4 955 Processor)
driven at 3.2GHz and a 16bit A/D and D/A conversion board
(Interface, LPC-361116). The piezo driver (NF, As-904-150
B) amplifies the command voltage signal within the range
of bipolar 75V to drive the piezoelectric actuator. A non-
contacting displacement sensor (MESS-TEK, M-2218) and
the corresponding sensor probe (MESS-TEK, TRA1020-1K-
V3-1057) is used to measure the displacement of the actuator.
The resolution of the non-contacting displacement sensor is
10nm.

Fig. 17 Actuator response and desired displacement for
10Hz sinusoidal input
Fig. 18 Actuator response and desired displacement for
23Hz sinusoidal input
Fig. 19 Actuator response and desired displacement for
30Hz sinusoidal input
B. Identification experiment
A sinusoidal wave is fed to the piezo driver as the
described mathematically by
u[k] = sin(2π f Δt(k − 1)), (15)
where f is the input frequency, Δt is the sampling interval
which is 1ms in this experiment. The experimental output of
the piezoelectric actuator is measured for 100 seconds after
the output converges to the steady state oscillation. The pa-
rameters of the extended Bouc-Wen model are identified by
the RLS algorithm using that data for each input frequency.
The input frequency is altered from 1Hz to 30Hz with the
increment of 1Hz. Table 1 shows the initial values of the
parameters to be updated for the extended Bouc-Wen model.
The root mean squared error (RMSE) between the actuator
displacement and the model output is calculated to verify the
modeling accuracy.
C. Control experiment
We conducted the compensation experiments for each
frequency using the identified parameters. Each attempt lasts
for 100 seconds. The RMSE between the desired trajectory
Fig. 20 Actuator response and desired displacement for
10Hz sinusoidal desired trajectory.
Fig. 21 Actuator response and desired displacement for
23Hz sinusoidal desired trajectory.
Fig. 22 Actuator response and desired displacement for
30Hz sinusoidal desired trajectory.
and output of the piezoelectric actuator for every frequency
from 1 to 30Hz is calculated to verify tracking accuracy.
Tracking error et [k] in the control experiment is
et [k] = d[k] − ycon [k], (16)
where ycon [k] is the measurement of the actuator displace-
ment at time k. We also conducted the same control exper-
iment with the model of the piezoelectric actuator used in
Rakotondrabe[6] in order to verify the advantage of the model
proposed in this study. The model used by Rakotondrabe is
described by
y(t) = d pU(t) − h(t) y(t0 ) = y0
ḣ = AU̇ − B|U̇|h − ΓU̇|h| h(t0 ) = h0 , (17)
where y is the displacement output and U is the control
input. d p ,A,B and Γ are the parameters of the model. (17) is
discretized accordingly which finally results in the following
two equations
h[k] = h[k − 1] − Γ|h[k − 1]|(U[k] −U[k − 1])
+A(U[k] −U[k − 1]) − β |U[k] −U[k − 1]|h[k − 1]

 y[k] = d pU[k] − h[k]. (18)
Both the identification and the controller synthesis were
carried out in the same manner as explained with our model.
The only difference is the use of the model (18).
Fig. 11 shows the RMSEs on the modeling error sequence
for each input frequency and the ambient sensor noise.
Fig. 12 shows the difference of the phase between the
model(18) and the actuator response, whereas Fig. 13 plots
the difference between the proposed extended Bouc-Wen
model and the actuator response. It can be inferred from
the figures that the extended Bouc-Wen model has the better
modeling accuracy than the model (18) as the proposed
model exhibits small RMS modeling errors and the phase
lag of the model response is negligible at most of the tested
frequencies.
As for the control performance, Fig. 14 shows the tracking
error RMSEs between the desired trajectory and the out-
put displacement of the piezoelectric actuator for 1-30Hz
frequencies. The figure also shows level of the the ambi-
ent sensor noise. It is evident that the proposed controller
outperforms the counterpart. Figs. 15 and 16 both show
the phase difference between the actuator output the the
reference: the only difference is the model. Fig.15 shows
the results with the basic model (18) whereas Fig.16 shows
the results with the proposed extended Bouc-Wen model.
The controller based on the proposed model basically com-
pensates the intrinsic phase lag of the actuator with fine
precision but performance degradation can be observed at
some frequencies.
In order to gain insights on the cause of performance
degradation observed at some frequencies, we drew the in-
put/output plots using both the identification and the control
experiment results at 10, 23 and 30Hz frequencies in Figs.
17, 18 and 19 for open loop responses and in Figs. 20,
21 and 22 for controlled outputs. All plots in these six
figures are with the extended Bouc-Wen model. It can be
seen from these figures that the identification accuracy and
compensation accuracy at the input frequency of 23Hz are
worse than the other two input frequencies. It is shown in
Fig. 21 that the actuator response for 23Hz input has a unique
shape. Recently Li, et al.[17] has reported that the basic
input frequency and its 3rd order harmonic would affect the
behavior of the piezoelectric actuator. It might be feasible
to presume that the unique shape of the actuator response is
dominated by the 3rd harmonic at the input frequency around
23Hz. The deviation of phase in Fig.13 and Fig. 16 might
also be affected greatly by the 3rd harmonic at the input
frequency around 23Hz.
V. C ONCLUSION
This paper presents the new extended Bouc-Wen model
which forms the asymmetrical hysteresis loop and exhibits
the rate-dependent behavior as well to capture the hysteresis
of the real-world bimorph type piezoelectric actuator used in
this study. The proposed extended Bouc-Wen model is syn-
thesized by combining the modified Bouc-Wen model and
the 3rd order linear model. We have also proposed the
hysteresis compensator design for the piezoelectric ac-
tuator which is the extended version of the work by
Rakotondrabe[6]. The extended Bouc-Wen model outper-
forms the model (18) at most input frequencies. Our future
work is on the treatment of the 3rd harmonic of the actuator
response for perfect linear drive of the actuator.
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