Discontinuous H control of underactuated mechanical systems with friction and backlash

  • Raúl Rascón
  • Joaquin Alvarez
  • Luis T. Aguilar
Regular Papers Control Theory and Applications


Nonlinear H -control is extended to discontinuous mechanical systems with degree of underactuation one, where nonlinear phenomena such as Coulomb friction and backlash are considered. The problem in question is to design a feedback controller via output measurements so as to obtain the closed-loop system in which all trajectories are locally ultimate bounded, and the underactuated link is regulated to a desired position while also attenuating the influence of external perturbations and nonlinear phenomena. It is considered that positions are the only measurements available for feedback in the system. Performance issues of the discontinuous H -regulation controller are illustrated in an experimental study made for a rectilinear plant with friction modified to have a gap in the point of contact between bodies.


Backlash discontinuous H control friction mechanical systems 


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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  • Raúl Rascón
    • 1
  • Joaquin Alvarez
    • 2
  • Luis T. Aguilar
    • 3
  1. 1.UABC, Universidad Autónoma de Baja California, Facultad de IngenieríaBlvd. Benito Juárez y Calle de la Normal S/NBaja CaliforniaMéxico
  2. 2.CICESECentro de Investigación Científica y de Educación Superior de EnsenadaSan DiegoUSA
  3. 3.IPN, Instituto Politécnico NacionalTijuanaMéxico

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