Abstract: In order to overcome the significant impact of hysteresis on positioning precision when Giant Magnetostrictive Material Actuator（GMA） applied for fine positioning

under the condition of the hysteresis compensation

adaptive PID control method is studied and a multimode PID control method based on Generalized Predictive Control （GPC）principle is established. Firstly

the main idea of GPC principle is introduced and the relation between parameters of the PID controller and estimated-to-be parameters is derived. Then

for the quibble problem at the beginning stage

a multimode PID controller

which choose control method between regular PID and GPC-PID by PID parameters variability

is setup. At last

PID parameters are reached to fulfill displacement control for GMA. Experimental results indicate that although GPC-PID controller extends the consuming time of each execution step slightly by 7 ms

RMS of tracking error reduce 0.066μm

compared with Generalized Minimum Variability-Fuzzy PID (GMV-Fuzzy PID) controller. It can overcome the impact of inaccurate hysteresis and system modeling or disturbance

and is advantageous when both real-time and high precision requirements need to be met.