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Stabilization of Mechanical Systems with Backlash by PI Loop Shaping

Author

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  • Ahmad Taher Azar

    (Faculty of Computers and Information, Benha University, Banha, Egypt,)

  • Fernando E. Serrano

    (Central American Technical University (UNITEC), Tegucigalpa, Honduras)

Abstract

Backlash is one of several discontinuities found in different kinds of systems, it can be found in actuators of different types, such as mechanical and hydraulic, giving way to unwanted effects in the system behavior. PI loop shaping control design implementing a describing function to find the limit cycle oscillations and the appropriate control gain is developed. Therefore a frequency domain approach is implemented for the control of nonlinear system of any kind such as robotics, mechatronics, other kind of mechanisms, electrical motors etc. Finally, in order to corroborate the theoretical background explained in this article, the stabilization of a cart-pendulum system with the proposed control strategy is shown.

Suggested Citation

  • Ahmad Taher Azar & Fernando E. Serrano, 2016. "Stabilization of Mechanical Systems with Backlash by PI Loop Shaping," International Journal of System Dynamics Applications (IJSDA), IGI Global, vol. 5(3), pages 21-46, July.
    • Handle: RePEc:igg:jsda00:v:5:y:2016:i:3:p:21-46
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    Cited by:

    1. Mayra Antonio-Cruz & Victor Manuel Hernández-Guzmán & Ramón Silva-Ortigoza & Gilberto Silva-Ortigoza, 2019. "Implementation of a Controller to Eliminate the Limit Cycle in the Inverted Pendulum on a Cart," Complexity, Hindawi, vol. 2019, pages 1-13, February.

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