Robust inverted compensation control for Hammeratein systems with backlash nonlinearities

A robust inverted compensation control which is based on a new dynamic model for backlash inverse is presented for Hammerstein systems in presence of input asymmetric backlash nonlinearities. The piecewise linear parametric representation is first utilized to simultaneously estimate the characteristic parameters of the backlash and the unknown coefficients in the linear transfer function. A dynamic model with bounded error is then established according to the estimates, based on which the driving signal can cross the inner segment as quickly as possible. The design method of robust inverted compensation controller is given out by Lyapunov stability analysis. Furthermore, the proposed controller can guarantee not only global stability but also transient performance. The experimental results show that the system can perform good tracking and has strong robustness.