This paper describes a method for the design of compensators able to reduce hysteresis in transducers, as well as two measures to quantify and compare controller performance, Rate independent hysteresis, as represented by the Preisach model of hysteresis, is seen as an input-output phase lag. The compensation is based on controllers derived from the "phaser," a unitary gain operator that shifts a periodic signal by a single phase angle. A "variable phaser" is shown to be able to handle minor hysteresis loops. Practical implementations of these controllers are given and discussed. Experimental results exemplify the use of these techniques.
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