ABSTRACT
This chapter introduces dynamic model and system identification of the cell puncture mechanism driven by a piezoelectric actuator, and the hysteretic nonlinearity of piezoelectric actuator is also analyzed. The dynamic model of the cell puncture mechanism is developed based on the Bouc–Wen model. Parameters of the linear model are identified utilizing system identification toolbox of MATLAB. Parameters of the nonlinear model are identified by particle swarm optimization. The results of this chapter lay a solid foundation for the nonlinear robust controller design of the subsequent chapters.
