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**Controlling mechanical systems with backlash – a survey.**
*(English)*
Zbl 1030.70013

Summary: Backlash is one of the most important nonlinearities that limit the performance of speed and position control in robotics, automation and other industrial applications. The control of systems with backlash has been the subject of study since the 1940s. This survey reveals that surprisingly few control innovations have been presented since the early path-breaking papers that introduced the describing function analysis of systems with backlash. Promising developments, however, take place using adaptive and nonlinear control strategies.

### MSC:

70Q05 | Control of mechanical systems |

70-02 | Research exposition (monographs, survey articles) pertaining to mechanics of particles and systems |

93C10 | Nonlinear systems in control theory |

93C40 | Adaptive control/observation systems |

### Keywords:

backlash compensation; adaptive control; motor control; describing function analysis; nonlinear control
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\textit{M. Nordin} and \textit{P.-O. Gutman}, Automatica 38, No. 10, 1633--1649 (2002; Zbl 1030.70013)

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