Robust stabilization of systems with actuator nonlinearities

This note addresses the stabilization problem of a nonlinear plant, where actuator nonlinearities (deadzone and/or backlash) with uncertain parameters are also present. As is well known, this problem has a practical relevance: the actuator nonlinearities are particularly harmful, since they affect the control variable making the overall system not affine. A result ensuring the robust stabilization of the control system is presented, based on sliding mode control techniques. Preliminary simulation tests on a simple model are also reported