Characteristic Modeling and Control of Servo Systems with Backlash and Friction

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="328450.fig.0012a" src="https://static.hindawi.com/articles/mpe/volume-2014/328450/figures/328450.fig.0012a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Position tracking response</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="328450.fig.0012b" src="https://static.hindawi.com/articles/mpe/volume-2014/328450/figures/328450.fig.0012b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Tracking error</td></tr></table></td></tr></table>

<table>Simulation results for the 0.6°/s and 0.6°/<svg height="16.049999" id="M307" style="vertical-align:-0.16379pt" version="1.1" viewbox="0 0 12.7 16.049999" width="12.7" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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Mathematical Problems in Engineering

fig12

Figure 12

Figure 12: Characteristic Modeling and Control of Servo Systems with Backlash and Friction 