• Engineering
  • Published 2008

An Adaptive Control Approach for Discrete-Time Systems with Unknown Backlash at the Input

@inproceedings{Engenharia2008AnAC,
  title={An Adaptive Control Approach for Discrete-Time Systems with Unknown Backlash at the Input},
  author={Escola Polit{\'e}cnica de Engenharia},
  year={2008}
}
In this paper, we focus on the development of an adaptive control scheme for systems with unknown backlash. More specifically, we propose a discrete- time adaptive backlash inverse based controller for plants that have a known linear part and an unknown backlash at its input. We also demonstrate that the harmful effects of backlash can be cancelled by adding two control blocks. These blocks are the following: an adaptive backlash inverse structure and an adaptive linear filter controller. The… CONTINUE READING