The adaptive PID controller design for motor control system with backlash

The control performance will become worse since a backlash in motor control system, which can increase steady-state error, cause the system vibration, and make the system trap in a limit-cycle. The dynamic model of backlash in electronic actuator has been constructed, and the influence to the system stability caused by backlash was analyzed. According to model reference adaptive control theory, an adaptive PID controller for electronic actuator system with a backlash has been designed. According to the numerical simulation results, it has been proved that the adaptive PID controller performs better than conventional PID in eliminating the vibration caused by the backlash.