Brief paper: Input-output stability of systems with backlash

Authors:
Antonio Barreiro;Alfonso Baños
Affiliations:
E.T.S. Ingenieros Industriales, University of Vigo, 36200 Vigo, Spain;Facultad de Informática, University of Murcia, 30071 Murcia, Spain
Venue:
Automatica (Journal of IFAC)
Year:
2006

Citing 3
Cited 2

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Survey Controlling mechanical systems with backlash-a survey

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Brief paper: Modeling and identification of systems with backlash

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Technical communique: Stability analysis for linear systems with input backlash through sufficient LMI conditions

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Abstract

The objective of this work is to study the stability of systems with backlash, from an input-output point of view. In the first part, an L"~ analysis is addressed. This analysis provides not only conditions for boundedness of the loop signals, but also results on existence of solutions, based on Schauder fixed point theorem. In the second part, the system is studied using an L"2 or conic sector approach. The backlash graph is confined into certain conic sector, which is shown to be optimum or maximal. The conic inequality induces frequencial conditions on the linear part, which are further relaxed introducing dynamic multipliers. In the third part, both L"~ and L"2 techniques are combined reaching a final criterion which results in a Popov-like stability condition.