Inverse Control of Systems with Backlash Nonlinearity

  • Jing Zhou
  • Changyun Wen
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 372)


We consider a class of uncertain dynamic nonlinear systems preceded by unknown backlash nonlinearity. The control design is achieved by introducing a smooth inverse function of the backlash and using it in the controller design with backstepping technique. For the design and implementation of the controller, no knowledge is assumed on the unknown system parameters. It is shown that the proposed controller not only can guarantee stability, but also transient performance.

Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Jing Zhou
    • 1
  • Changyun Wen
    • 2
  1. 1.Norwegian University of Science and Technology, TrondheimNorway
  2. 2.Nanyang Technological UniversitySingapore

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