Adaptive control of systems with unknown output backlash

Adaptive control schemes for systems with unknown backlash at the plant output are developed. In the case of known backlash, a backlash inverse controller guarantees exact output tracking. When the backlash characteristics is unknown, adaptive laws are designed to update the controller parameters and to guarantee bounded input-output stability. Simulations show significant improvements of the system performance achieved by such adaptive backlash inverse controllers.<
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