Survey Controlling mechanical systems with backlash-a survey

Authors:
Mattias Nordin;Per-Olof Gutman
Affiliations:
Rolling Mills Department, ABB Process Industries, 721 67 Västerås, Sweden;Faculty of Agricultural Engineering, Technion-Israel Institute of Technology, Haifa 32000, Israel
Venue:
Automatica (Journal of IFAC)
Year:
2002

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Abstract

Backlash is one of the most important non-linearities that limit the performance of speed and position control in industrial, robotics, automotive, automation and other applications. The control of systems with backlash has been the subject of study since the 1940s. This survey reveals that surprisingly few control innovations have been presented since the early path breaking papers that introduced the describing function analysis of systems with backlash. Promising developments are however taking place using adaptive and non-linear control strategies.