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Continuous-time adaptive control of systems with unknown backlash

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2 Author(s)
Gang Tao ; Dept. of Electr. Eng., Virginia Univ., Charlottesville, VA, USA ; Kokotovic, P.V.

This paper addresses one of the nondifferentiable nonlinearities which appear very often in industrial control applications: backlash. The authors first present a right inverse of backlash and then give one of its possible implementations. Characteristics like backlash are seldom known, so an adaptive version of the authors' backlash inverse is more suitable for applications. The authors develop an adaptive backlash inverse scheme and apply it to feedback control of a known linear plant with an unknown backlash at its input. The authors use simulation results to illustrate achieved performance improvements

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Automatic Control, IEEE Transactions on  (Volume:40 ,  Issue: 6 )