Analysis and design to the asymptotic behavior of the semi/full/dual-closed loop feedback position control system

In this study, one proposes an effective linear position controller design method for two-inertia system and investigate the asymptotic behaviors of semi/full/dual-closed loop position control problem involving the effect of backlash. The analysis and compensation policy of the linear controller with respect to the nonlinear component are be explained clearly. Also one establishes crucial lemma to examine this issue by theatrical discussion. Furthermore, an example is provided by simulation to demonstrate the correctness of the analysis statements.