A New Compensation Technique for Backlash in Position Control Systems with Elasticity

The presence of backlash causes steady state accuracy and stability problems in position and speed control systems. Switched and inverse nonlinear controllers have been suggested in the past to deal with these problems. The present paper proposes a simple linear controller to compensate for backlash in a two-mass elastic system. The efficacy of the new controller is demonstrated by simulations using the exact mathematical model of backlash recently proposed in the literature.