Non-smooth Observer for Mechanical Systems Based on Sandwich Model with Backlash

  • Zupeng Zhou
  • Yonghong Tan
  • Ruili Dong
  • Hong He
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7506)


In this paper, a novel non-smooth observer is proposed to handle the state estimation of mechanical transmission systems described by sandwich model with backlash. Based on the characteristic of the system, a non-smooth state-space function is constructed in terms of the separation principle. Then, a non-smooth observer is developed based on the obtained non-smooth state-space model. The observer can switch among the different operating zones automatically in terms of the variation of operation conditions. Finally, the simulation results are presented.


Non-smooth observer backlash sandwich model state estimation mechanical systems 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Zupeng Zhou
    • 1
  • Yonghong Tan
    • 2
  • Ruili Dong
    • 2
  • Hong He
    • 2
  1. 1.School of Electronic EngineeringXidian UniversityXi’anChina
  2. 2.College of Information, Mechanical and Electrical EngineeringShanghai Normal UniversityShanghaiChina

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