A hybrid approach to modelling, control and state estimation of mechanical systems with backlash

  title={A hybrid approach to modelling, control and state estimation of mechanical systems with backlash},
  author={Philipp Rostalski and Thomas J. Besselmann and Miroslav Baric and Femke van Belzen and Manfred Morari},
  journal={International Journal of Control},
  pages={1729 - 1740}
Control of mechanical systems with backlash is a topic well studied by many control practitioners. This interest has been motivated by the fact that backlash in mechanical systems can cause severe performance degradation and lead to instability of the control system. Furthermore, high impact-forces in backlash-systems can lead to a lower durability of the components and to strokes and peaks in the output. In this paper a mechanical benchmark system is presented to provide facilities for testing… 

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  • A. LagerbergB. Egardt
  • Computer Science
    42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)
  • 2003
Nonlinear estimators for backlash size and position are described, both based on Kalman filtering theory, and the result is an estimate of the state of the backlash.

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