Identification of sandwich systems with backlash with hybrid inputs

An approach of identification for sandwich systems with backlash is presented in this paper. In this paper, a hybrid input is designed to degenerate the backlash into a linearized function. In this case, the so-called degenerated model with linearized parameters is obtained. Then, the Recursive General Identification Algorithm (RGIA) is employed to estimate the parameters of the model. After that, the parameters of the backlash are estimated. Finally, a simulation example based on the proposed scheme is presented.