Digital controller for systems containing a backlash

Considers a single-input single-output control system with backlash. Although the proposed method can be extended to general polynomial reference input functions, for the sake of simplicity, the authors assume that the reference input is a step function. The problem is to design an output feedback digital control so that the resulting system response follows the reference input, in steady state while satisfying certain transient requirements. The transient requirements are usually given as the settling time, rise time, overshoot and smoothness of the response, etc. It is assumed that there exists such a controller