A new control strategy for systems with saturation and backlash in the input

What is it about?

This paper introduces a new principle that states that a saturation and a nonlinearity can be compensated using standard controllers for saturated systems using the inverse of the nonlinerity. This principle is demonstrated with backlash and saturation.

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Why is it important?

The results of this paper imply that simple control structures for saturated systems, like anti-windup, can be used for more complex nonlinear behaviour, i.e. backlash and saturation together. The results can be extended to other nonlinearities.