Adaptive control of systems with unknown output backlash

@article{Tao1993AdaptiveCO,
  title={Adaptive control of systems with unknown output backlash},
  author={Gang Tao and Petar V. Kokotovi{\'c}},
  journal={Proceedings of 32nd IEEE Conference on Decision and Control},
  year={1993},
  pages={2635-2640 vol.3}
}
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.<<ETX>> 

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