Robust adaptive deadzone compensation of DC servo system

Deadzone in DC servo system is often poorly known and it can severely limit system performance. A robust adaptive deadzone compensation scheme is presented for general DC servo system with deadzone of unknown width. The tuning algorithms were rigorously shown to guarantee small tracking errors as well as bounded deadzone parameter estimates using Lyapunov stability. The other prominent feature of the controller is that it can deal with the uncertainty in both inertial and friction parameters. The simulation results are presented to demonstrate its efficacy