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This paper proposes and evaluates an adaptive technique and a variable structure control approach for piezoelectric actuation systems to track specified motion trajectories. The proposed control methodologies are formulated to accommodate unknown or uncertain system parameters, non-linearities including the hysteresis effect, and external disturbances in the piezoelectric actuation systems without any form of feed-forward compensation. In this study, both control methodologies are demonstrateddoi:10.1109/icarcv.2006.345065 dblp:conf/icarcv/LiawSOA06 fatcat:3r2mskbqfvgwpghzpfewpt47je