Intelligent and Self-Sensing Actuators

The concepts of intelligent and self-sensing actuators mentioned in Sect. 6.1.2 are exemplified below with solid-state actuators. The potential of both concepts is especially easy to recognize and to compare when described in terms of system theory. We will start with the conventional actuator. 

However, even in quasi-static operation the actual displacement and desired displacement usually do not correspond. Internal imperfections such as complex hysteretic nonlinearities described by the operator Ia in Fig. 6.6 and external influences such as load reactions via the surrounding mechanical 

Solid-state transducer with separated sensor 

In particular, the decoupling of both sensor and actuator operation for force and displacement reconstruction according to Fig. 6.8 is the main difference in the intelligent actuator concepts depicted in Fig. 6.7. In the case of self-sensing actuators the output y of the sensory path is strongly influenced by the driving quantity X of the solid-state transducer and must be 

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