Adaptive control of system with unknown output backlash

Adaptive control schemes for systems with unknown backlash at the plant output are developed. In the case of known backlash, a backlash inverse controller guarantees exact output tracking. When the backlash characteristics are unknown, adaptive laws are designed to update the controller parameters and to guarantee bounded input-output stability. Simulations show significant improvements of the system performance achieved by such adaptive backlash inverse controllers.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>