Backstepping position control of two-mass systems with unknown backlash

This paper presents a backstepping control strategy to control the load position of two-mass systems with unknown backlash. The measurable signals for applying this nonlinear control law are assumed to be available from motor and load sides. For achieving the desired control goals, a precontrol block is designed too. This block which is fed by motor and load measurable signals, drives the required signals for executing the nonlinear backstepping control law. The simulation results on a sample two-mass system illustrate the effectiveness of the proposed algorithm.