Switched hybrid speed control of elastic systems with backlash

Backlash nonlinearity is caused by the gap in the mechanical transmission link, and it poses a problem whenever there is a speed and position mismatch between the driving and driven side. In this paper, switched hybrid approach has been adopted to model and control the systems with backlash nonlinearity. A switched hybrid system consists of multiple subsystems with a particular subsystem active at a time, as dictated by a switching function. A multiple model adaptive control scheme with fixed models has been suggested for speed control of load for two mass system connected through a mechanical transmission link, taking into account the backlash in the system. The control strategy does not require a priori knowledge of size of backlash gap. The robustness of the suggested technique has also been simulated in the presence of disturbance torque and uncertain backlash size.