×

Controlling mechanical systems with backlash – a survey. (English) Zbl 1030.70013

Summary: Backlash is one of the most important nonlinearities that limit the performance of speed and position control in robotics, automation and other industrial applications. The control of systems with backlash has been the subject of study since the 1940s. This survey reveals that surprisingly few control innovations have been presented since the early path-breaking papers that introduced the describing function analysis of systems with backlash. Promising developments, however, take place using adaptive and nonlinear control strategies.

MSC:

70Q05 Control of mechanical systems
70-02 Research exposition (monographs, survey articles) pertaining to mechanics of particles and systems
93C10 Nonlinear systems in control theory
93C40 Adaptive control/observation systems
PDFBibTeX XMLCite
Full Text: DOI

References:

[1] Ahmad, S. (1985). Second order nonlinear kinematic effects and their compensation. In Proceedings of CDC; Ahmad, S. (1985). Second order nonlinear kinematic effects and their compensation. In Proceedings of CDC
[2] Åström, K. J.; Wittenmark, B., Computer controlled systems: theory and design (1984), Prentice-Hall: Prentice-Hall Englewood Cliffs, NJ · Zbl 0217.57903
[3] Åström, K. J.; Wittenmark, B., Adaptive control (1989), Addison-Wesley: Addison-Wesley Reading, MA · Zbl 0217.57903
[4] Atherton, D. P., Nonlinear control engineering (1975), Van Nostrand Reinhold Co. Ltd: Van Nostrand Reinhold Co. Ltd New York · Zbl 0568.93032
[5] Atherton, D. P., Stability of nonlinear systems (1981), Wiley: Wiley New York · Zbl 0568.93032
[6] Azenha, A., & Tenreiro Machado, J. R. (1996). Variable structure control of systems with nonlinear friction and dynamic backlash. In Proceedings of IFAC World Congress; Azenha, A., & Tenreiro Machado, J. R. (1996). Variable structure control of systems with nonlinear friction and dynamic backlash. In Proceedings of IFAC World Congress
[7] Baril, C., & Galic, J. (1994). Speed control of an elastic two-mass system; Baril, C., & Galic, J. (1994). Speed control of an elastic two-mass system
[8] Boneh, R., & Yaniv, O. (1994). Control of an elastic two-mass system with large backlash; Boneh, R., & Yaniv, O. (1994). Control of an elastic two-mass system with large backlash
[9] Boneh, R.; Yaniv, O., Control of an elastic two-mass system with large backlash, Journal of Dynamic Systems, Measurement and Control, 121, 2, 278-284 (1999)
[10] Brandenburg, G. (1986). Stability of a speed controlled elastic two-mass system with backlash and Coulomb friction and optimization by a load observer. In Symposium: Modelling and simulation for control of lumped and distributed parameter systems; Brandenburg, G. (1986). Stability of a speed controlled elastic two-mass system with backlash and Coulomb friction and optimization by a load observer. In Symposium: Modelling and simulation for control of lumped and distributed parameter systems
[11] Brandenburg, G.; Geissenberger, S.; Kink, C.; Schall, N.-H.; Schramm, M., Multi-motor electronic line shafts for rotary printing pressesA revolution in printing machine techniques, IEEE/ASME Transactions on Mechatronics, 4, 1, 25-31 (1999)
[12] Brandenburg, G., Hertle, H., & Zeiselmair, K. (1987). Dynamic influence and partial compensation of coulomb friction in a position- and speed-controlled elastic two-mass systems. In IFAC World Congress; Brandenburg, G., Hertle, H., & Zeiselmair, K. (1987). Dynamic influence and partial compensation of coulomb friction in a position- and speed-controlled elastic two-mass systems. In IFAC World Congress
[13] Brandenburg, G., & Kaiser, W. (1995). On pi motion control of elastic systems with notch filters in comparison with advanced strategies. In Proceedings of IFAC conference motion control; Brandenburg, G., & Kaiser, W. (1995). On pi motion control of elastic systems with notch filters in comparison with advanced strategies. In Proceedings of IFAC conference motion control
[14] Brandenburg, G., & Schäfer, U. (1987). Influence and partial compensation of backlash for a position controlled elastic two-mass system. In Proceedings of the European conference on power electronics and applications; Brandenburg, G., & Schäfer, U. (1987). Influence and partial compensation of backlash for a position controlled elastic two-mass system. In Proceedings of the European conference on power electronics and applications
[15] Brandenburg, G., & Schäfer, U. (1988a). Influence and partial compensation of simultaneously acting backlash and coulomb friction in a speed- and position-controlled elastic two-mass system. In Proceedings of the second international conference on electrical drives; Brandenburg, G., & Schäfer, U. (1988a). Influence and partial compensation of simultaneously acting backlash and coulomb friction in a speed- and position-controlled elastic two-mass system. In Proceedings of the second international conference on electrical drives
[16] Brandenburg, G., & Schäfer, U. (1988b). Stability analysis and optimization of a position-controlled elastic two-mass system with backlash and coulomb friction. In Proceedings of the 12th IMACS world congress on scientific computation; Brandenburg, G., & Schäfer, U. (1988b). Stability analysis and optimization of a position-controlled elastic two-mass system with backlash and coulomb friction. In Proceedings of the 12th IMACS world congress on scientific computation
[17] Brandenburg, G., & Schäfer, U. (1989). Influence and adaptive compensation simultaneously acting backlash and Coulomb friction in elastic two-mass systems of robots and machine tools. In Proceedings of ICCON ’89; Brandenburg, G., & Schäfer, U. (1989). Influence and adaptive compensation simultaneously acting backlash and Coulomb friction in elastic two-mass systems of robots and machine tools. In Proceedings of ICCON ’89
[18] Brandenburg, G., & Schäfer, U. (1990). Design and performance of different types of observers for industrial speed- and position controlled electromechanical systems. In Proceedings of the international conference on electrical drives and power electronics; Brandenburg, G., & Schäfer, U. (1990). Design and performance of different types of observers for industrial speed- and position controlled electromechanical systems. In Proceedings of the international conference on electrical drives and power electronics
[19] Brandenburg, G., Unger, H., & Wagenpfeil, A. (1986). Stability problems of a speed controlled drive in an elastic system with backlash and corrective measures by a load observer. In Proceedings of the international conference on electrical machines; Brandenburg, G., Unger, H., & Wagenpfeil, A. (1986). Stability problems of a speed controlled drive in an elastic system with backlash and corrective measures by a load observer. In Proceedings of the international conference on electrical machines
[20] Chang, T. N., Ji, Z., Shimanovich, M., & Caudill, R. (1996). Vibration control of contactless drive system using passband shaping. In Proceedings of IFAC world congress; Chang, T. N., Ji, Z., Shimanovich, M., & Caudill, R. (1996). Vibration control of contactless drive system using passband shaping. In Proceedings of IFAC world congress
[21] Chestnut, H. (1954). Approximate frequency-response methods for representing saturation and dead band. Transactions of the ASME; Chestnut, H. (1954). Approximate frequency-response methods for representing saturation and dead band. Transactions of the ASME
[22] Chestnut, H., & Mayer, R. W. (1995). Servomechanisms and regulating system design; Chestnut, H., & Mayer, R. W. (1995). Servomechanisms and regulating system design · Zbl 0045.40104
[23] Choi, G.-H., Nakamura, H., & Kobayashi, H. (1996). Calibration of servo systems with redundant actuators. In Proceedings of IFAC world congress; Choi, G.-H., Nakamura, H., & Kobayashi, H. (1996). Calibration of servo systems with redundant actuators. In Proceedings of IFAC world congress
[24] Cohen, M., & Cohen, I., (1994). The use of worm gear transmissions in electromechanical systems: Analysis, digital control and application. In The 25th Israel conference on mechanical engineering; Cohen, M., & Cohen, I., (1994). The use of worm gear transmissions in electromechanical systems: Analysis, digital control and application. In The 25th Israel conference on mechanical engineering
[25] Cosgriff, R. L. (1958). Nonlinear control systems; Cosgriff, R. L. (1958). Nonlinear control systems
[26] de Santis, R. M., A novel PID configuration for speed and position control, Transactions of the ASME, 116, 542-549 (1994) · Zbl 0925.93642
[27] Dean, S. R. H., Surgenor, B. W., & Iordanou, H. N. (1995). Experimental evaluation of a backlash inverter as applied to a servomotor with gear train. In Proceedings of the fourth IEEE conference control applications; Dean, S. R. H., Surgenor, B. W., & Iordanou, H. N. (1995). Experimental evaluation of a backlash inverter as applied to a servomotor with gear train. In Proceedings of the fourth IEEE conference control applications
[28] Decker, C.; Ehrlinger, A. U.; Boucher, P.; Dumur, D., Application of constrained receding horizon control predictive control to a benchmark problem, European Journal of Control, 1, 2, 157-165 (1996) · Zbl 1423.93097
[29] Desoer, C. A.; Sharuz, S. M., Stability of dithered non-linear systems with backlash or hysterisis, International Journal of Control, 43, 4, 1045-1060 (1986) · Zbl 0583.93054
[30] Dhaouadi, R.; Kubo, K.; Tobise, M., Two-degree-of-freedom robust speed controller for high performance rolling mill drives, IEEE Transactions on Industry Applications, 29, 5, 919-927 (1993)
[31] Dhaouadi, R.; Kubo, K.; Tobise, M., Analysis and compensation of speed drive systems with torsional load, IEEE Transactions on Industry Applications, 30, 3, 760-766 (1994)
[32] Dumitrache, I., Dumitriu, S., & Monteano, Fl. (1987). Adaptive structure algorithm for microprocessor control of DC motors. In Proceedings of the European conference on power electronics and applications; Dumitrache, I., Dumitriu, S., & Monteano, Fl. (1987). Adaptive structure algorithm for microprocessor control of DC motors. In Proceedings of the European conference on power electronics and applications
[33] Freeman, E. A. (1957). An approximate transient analysis of a second order position-control system when backlash is present. Institution Monograph 254, The Institution of Electrical Engineers.; Freeman, E. A. (1957). An approximate transient analysis of a second order position-control system when backlash is present. Institution Monograph 254, The Institution of Electrical Engineers.
[34] Freeman, E. A. (1959). The effect of speed dependent friction and backlash on the stability of automatic control systems. Transaction of the American IEE; Freeman, E. A. (1959). The effect of speed dependent friction and backlash on the stability of automatic control systems. Transaction of the American IEE
[35] Freeman, E. A. (1960). Stabilization of control systems with backlash using a high-frequency on-off loop. Institution Monograph 356, The Institution of Electrical Engineers.; Freeman, E. A. (1960). Stabilization of control systems with backlash using a high-frequency on-off loop. Institution Monograph 356, The Institution of Electrical Engineers.
[36] Friedland, B. (1997). Feedback control of systems with parasitic effects. In Proceedings of ACC-97; Friedland, B. (1997). Feedback control of systems with parasitic effects. In Proceedings of ACC-97
[37] Galardini, D., Nordin, M., & Gutman, P.O. (1997). Robust PI tuning for an elastic two-mass system. In Proceedings of the fifth European control conference; Galardini, D., Nordin, M., & Gutman, P.O. (1997). Robust PI tuning for an elastic two-mass system. In Proceedings of the fifth European control conference
[38] Gelb, A.; Vander Velde, W. E., Multiple-input describing functions and nonlinear system design (1968), McGraw-Hill: McGraw-Hill New York · Zbl 0177.12602
[39] Goodman, T. P. (1963). How to calculate dynamic effects of backlash. Machine Design; Goodman, T. P. (1963). How to calculate dynamic effects of backlash. Machine Design
[40] Grundmann, S. (1995). Robust vibration control by multi model pole assessment. In Proceedings of IFAC motion control; Grundmann, S. (1995). Robust vibration control by multi model pole assessment. In Proceedings of IFAC motion control
[41] Gurian, S. (1998). Resonance compensation in large drive systems. In Proceedings of 1998 AISE annual conventionwww.aise.org; Gurian, S. (1998). Resonance compensation in large drive systems. In Proceedings of 1998 AISE annual conventionwww.aise.org
[42] Gutman, P. O. (1998). Book review of adaptive control of systems with actuators and sensor nonlinearities. In G. Tao, & P. V. Kokotović (Eds.), International Journal of Robust and Nonlinear Control12; Gutman, P. O. (1998). Book review of adaptive control of systems with actuators and sensor nonlinearities. In G. Tao, & P. V. Kokotović (Eds.), International Journal of Robust and Nonlinear Control12
[43] Hahn, V., & Unbehauen, H. (1987). Cascade adaptive speed control of a thyristor driven dc-motor. In Proceedings of the European conference on power electronics and applications; Hahn, V., & Unbehauen, H. (1987). Cascade adaptive speed control of a thyristor driven dc-motor. In Proceedings of the European conference on power electronics and applications · Zbl 0633.93005
[44] Han, C. W., & de la Sen, M. (1996). Multivariable adaptive control of backlash nonlinear systems with arbitrary interactor matrix. In Proceedings of IFAC world congress; Han, C. W., & de la Sen, M. (1996). Multivariable adaptive control of backlash nonlinear systems with arbitrary interactor matrix. In Proceedings of IFAC world congress
[45] Harashima, F., Ueshiba, T., & Hashimoto, H. (1987). Sliding mode control for robotic manipulator. In Proceedings of European conference on power electronics and applications; Harashima, F., Ueshiba, T., & Hashimoto, H. (1987). Sliding mode control for robotic manipulator. In Proceedings of European conference on power electronics and applications
[46] Hjalmarsson, H.; Gunnarsson, S.; Gevers, M., Model free tuning of a robust regulator for a flexible transmission system, European Journal of Control, 1, 2, 97-103 (1996)
[47] Hori, Y.; Iseki, H.; Sigiura, K., Basic consideration of vibration supression and disturbance rejection control of multi-inertia system using SFLAC (state feedback and load acceleration control), IEEE Transactions on Industry Applications, 30, 4, 889-896 (1994)
[48] Horowitz, I. M., Synthesis of feedback systems (1963), Academic Press: Academic Press New York · Zbl 0121.07704
[49] Horowitz, I. M. (1992). Quantitative feedback design theory (QFT); Horowitz, I. M. (1992). Quantitative feedback design theory (QFT)
[50] Indri, M., & Tornambè, A. (1997). Application of a PD controller on two mating gears with elasticity and backlash. In Proceedings of the 36th conference on decision and control; Indri, M., & Tornambè, A. (1997). Application of a PD controller on two mating gears with elasticity and backlash. In Proceedings of the 36th conference on decision and control
[51] Ji, J.-K.; Sul, S.-K., DSP-based self-tuning IP speed controller with load torque compensation for rolling mill DC drive, IEEE Transactions on Industrial Electronics, 42, 4, 382-386 (1995)
[52] Johansson, M. (1999). Piecewise linear control systems; Johansson, M. (1999). Piecewise linear control systems
[53] Johansson, M., & Rantzer, A. (1997). Computation of piecewise quadratic Lyapunov functions for hybrid systems. In Proceedings of the 36th conference on decision and control; Johansson, M., & Rantzer, A. (1997). Computation of piecewise quadratic Lyapunov functions for hybrid systems. In Proceedings of the 36th conference on decision and control
[54] Johansson, M.; Rantzer, A., Computation of piecewise quadratic Lyapunov functions for hybrid systems, IEEE Transactions on Automatic Control, 45, 4, 555-559 (1998) · Zbl 0905.93039
[55] Jones, N. W.; Limebeer, D. J.N., A digital \(h_∞\) controller for a flexible transmission system, European Journal of Control, 1, 2, 93-96 (1996)
[56] Joos, G.; Sicard, P., A comparision of microcomputer-based implementations of cascades and parallel speed and current loops in DC motor drives, IEEE Transactions on Industry Applications, 28, 1, 136-143 (1992)
[57] Kidron, O.; Yaniv, O., Robust control of uncertain resonant systems, European Journal of Control, 1, 2, 66-72 (1996)
[58] Kokotović, P. V., Ezal, K., & Tao, G. (1997). Optimal control of tracking systems with backlash and flexibility. In Proceedings of the 36th IEEE conference on decision and control; Kokotović, P. V., Ezal, K., & Tao, G. (1997). Optimal control of tracking systems with backlash and flexibility. In Proceedings of the 36th IEEE conference on decision and control
[59] Koyama, M., & Yano, M. (1991). Two degrees of freedom controller using reference system model for motor drives. In Proceedings of the European conference on power electronics and applications; Koyama, M., & Yano, M. (1991). Two degrees of freedom controller using reference system model for motor drives. In Proceedings of the European conference on power electronics and applications
[60] Kreer, J. B. (1956). Transient response of pseudo-linear feedback control systems; Kreer, J. B. (1956). Transient response of pseudo-linear feedback control systems
[61] Landau, I. D.; Karimi, A.; Voda, A.; Franco, A., Robust digital control of flexible transmissions using the combined pole placement/sensitivity function shaping method, European Journal of Control, 1, 2, 19-25 (1996)
[62] Landau, I. D.; Rey, D.; Karimi, A.; Voda, A.; Franco, A., A flexible transmission system as a benchmark for robust digital control, European Journal of Control, 1, 2, 12-18 (1996)
[63] Lin, C.-F., Yu, T.-J., & Feng, X. (1996). Fuzzy control of a nonlinear pointing testbed with backlash and friction. In Proceedings of the 35th conference on decision and control; Lin, C.-F., Yu, T.-J., & Feng, X. (1996). Fuzzy control of a nonlinear pointing testbed with backlash and friction. In Proceedings of the 35th conference on decision and control
[64] Ling, Y., & Tao, G. (1999). Numerical design and analysis of backlash compensation for a multivariable nonlinear tracking system. In Proceedings of the 1999 American control conference; Ling, Y., & Tao, G. (1999). Numerical design and analysis of backlash compensation for a multivariable nonlinear tracking system. In Proceedings of the 1999 American control conference
[65] Liversidge, J. H., Backlash and resilience within closed loop of automatic control systems (1952), Academic Press: Academic Press New York
[66] Ma, X. L., & Tao, G. (1999). An algorithm for addition and multiplication of value sets of uncertain transfer functions. In Proceedings of the 38th IEEE conference on decision and control; Ma, X. L., & Tao, G. (1999). An algorithm for addition and multiplication of value sets of uncertain transfer functions. In Proceedings of the 38th IEEE conference on decision and control
[67] Nordin, M. (1992). Robust control of a rolling mill with minimal impact drop; Nordin, M. (1992). Robust control of a rolling mill with minimal impact drop
[68] Nordin, M. (1995). Uncertain systems with backlashAnalysisidentification and synthesis; Nordin, M. (1995). Uncertain systems with backlashAnalysisidentification and synthesis
[69] Nordin, M. (2000). Nonlinear backlash compensation for speed controlled elastic systems; Nordin, M. (2000). Nonlinear backlash compensation for speed controlled elastic systems
[70] Nordin, M.; Galic, J.; Gutman, P. O., New models for backlash and gear play, International Journal of Adaptive Control and Signal Processing, 1, 9-63 (1997) · Zbl 0875.93029
[71] Nordin, M., & Gutman, P.O. (1995). A robust linear design of an uncertain two-mass system with backlash. In Proceedings of the first IFAC workshop in automotive control; Nordin, M., & Gutman, P.O. (1995). A robust linear design of an uncertain two-mass system with backlash. In Proceedings of the first IFAC workshop in automotive control
[72] Nordin, M.; Gutman, P. O., Digital QFT-design for the benchmark problem, European Journal of Control, 1, 2, 97-103 (1996) · Zbl 1423.93250
[73] Nordin, M., & Gutman, P.O. (2000). Nonlinear speed control of elastic systems with backlash. In Proceedings of the 39th IEEE conference on decision and control; Nordin, M., & Gutman, P.O. (2000). Nonlinear speed control of elastic systems with backlash. In Proceedings of the 39th IEEE conference on decision and control
[74] Ohishi, K.; Myooi, T.; Ohnishi, K.; Miyaji, K., An approach to speed control of DC-motor with two inertias, Electrical Engineering in Japan, 106, 2, 115-120 (1986)
[75] Ohishi, K., Ohnishi, K., & Miyachi, K. (1983). Torque-speed regulation of DC-motor based on load torque estimation method. In Proceedings of IPEC-Tokyo; Ohishi, K., Ohnishi, K., & Miyachi, K. (1983). Torque-speed regulation of DC-motor based on load torque estimation method. In Proceedings of IPEC-Tokyo
[76] Oldak, S.; Baril, C.; Gutman, P. O., Quantative design of a class of nonlinear systems with parameter uncertainty, International Journal of Robust and Nonlinear Control, 4, 101-117 (1994) · Zbl 0800.93388
[77] Oustaloup, A.; Mathieu, B.; Lanusse, P., The CRONE control of resonant plantsApplication to a flexible transmission, European Journal of Control, 1, 2, 113-121 (1996) · Zbl 1423.93106
[78] Pan, Y.; Furuta, K., VSS approach to the design of robust digital controller, European Journal of Control, 1, 2, 166-173 (1996) · Zbl 1423.93081
[79] Pettersson, M. (1997). Driveline modeling and control; Pettersson, M. (1997). Driveline modeling and control
[80] Pollman, A., Tosetto, A., & Brea, P. (1991). Micro processor based control systems for rolling mills. In Proceedings of the European conference on power electronics and applications; Pollman, A., Tosetto, A., & Brea, P. (1991). Micro processor based control systems for rolling mills. In Proceedings of the European conference on power electronics and applications
[81] Recker, D. A., et al. (1991). Adaptive nonlinear control of systems containing a dead zone. In Proceedings of the 30th CDC; Recker, D. A., et al. (1991). Adaptive nonlinear control of systems containing a dead zone. In Proceedings of the 30th CDC
[82] Schäfer, U., & Brandenburg, G. (1990). State position control for elastic pointing and tracking systems with gear play and Coulomb friction—a summary of results. In Proceedings of the sixth Conference on power electronics and motion control (PEMC); Schäfer, U., & Brandenburg, G. (1990). State position control for elastic pointing and tracking systems with gear play and Coulomb friction—a summary of results. In Proceedings of the sixth Conference on power electronics and motion control (PEMC)
[83] Schäfer, U., & Brandenburg, G. (1991). State position control for elastic pointing and tracking systems with gear play and Coulomb friction—a summary of results. In Proceedings of the European conference on power electronics and applications; Schäfer, U., & Brandenburg, G. (1991). State position control for elastic pointing and tracking systems with gear play and Coulomb friction—a summary of results. In Proceedings of the European conference on power electronics and applications
[84] Schönfeld, R. (1987). Adaptive digital speed and position control of DC servo drives. In Proceedings of the European conference on power electronics and applications; Schönfeld, R. (1987). Adaptive digital speed and position control of DC servo drives. In Proceedings of the European conference on power electronics and applications
[85] Shäfer, U. (1993). Entwicklung von nichlinearen Drehzahl- und lageregelungen zur Kompensation von Coulomb-Reibung und Lose bei einem elektrisch angetriebenenelastischen Zweimassensystem; Shäfer, U. (1993). Entwicklung von nichlinearen Drehzahl- und lageregelungen zur Kompensation von Coulomb-Reibung und Lose bei einem elektrisch angetriebenenelastischen Zweimassensystem
[86] Slotine, J. J.; Li, W., Applied nonlinear control (1991), Prentice-Hall International: Prentice-Hall International Englewood Cliffs, NJ
[87] Tao, G., A two-step adaptive controller for a two-body system, IEEE Transactions on Automatic Control, 45, 5, 1011-1016 (2000) · Zbl 0998.93511
[88] Tao, G.; Kokotovic, P., Adaptive control of systems with backlash, Automatica, 29, 2, 323-335 (1993) · Zbl 0800.93079
[89] Tao, G.; Kokotovic, P. V., Adaptive control of systems with actuator and sensor nonlinearities (1996), Wiley: Wiley New York · Zbl 0953.93002
[90] Tao, G., & Ma, X. L. (1999). Backlash compensation for multivariable nonlinar systems with actuator dynamics. In Proceedings of the 38th IEEE conference on decision and control; Tao, G., & Ma, X. L. (1999). Backlash compensation for multivariable nonlinar systems with actuator dynamics. In Proceedings of the 38th IEEE conference on decision and control
[91] Taylor, J. H.; Lu, J., Robust nonlinear control system synthesis method for electro-mechanical pointing systems with flexible modes, Journal of Systems Engineering, 5, 192-204 (1995)
[92] Thomas, C. H. (1954). Stability characteristics of closed loop systems with dead band. Transactions of ASME; Thomas, C. H. (1954). Stability characteristics of closed loop systems with dead band. Transactions of ASME
[93] Tustin, A., Effects of backlash and of speed dependent friction on the stability of closed-cycle control systems, Journal IEE, 94, IIA, 143-151 (1947)
[94] Yang, J. S. (1992). Design of sampled-data control systems with one memoryless, time-invariant nonlinearity using QFT technique. In Proceedings of the 1992 American control conference; Yang, J. S. (1992). Design of sampled-data control systems with one memoryless, time-invariant nonlinearity using QFT technique. In Proceedings of the 1992 American control conference
[95] Yaniv, O.; Horowitz, I., Quantitative feedback theory for active vibration control systems, International Journal of Control, 51, 6, 1251-1257 (1990) · Zbl 0701.93046
[96] Yeh, C.-S., Fu, L.-C., & Yang, L.-J. (1996). Nonlinear adaptive control of a two-axis gun-turret system with backlash. In Proceedings of IFAC world congress; Yeh, C.-S., Fu, L.-C., & Yang, L.-J. (1996). Nonlinear adaptive control of a two-axis gun-turret system with backlash. In Proceedings of IFAC world congress
This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. In some cases that data have been complemented/enhanced by data from zbMATH Open. This attempts to reflect the references listed in the original paper as accurately as possible without claiming completeness or a perfect matching.