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.0015a" src="https://static.hindawi.com/articles/mpe/volume-2014/328450/figures/328450.fig.0015a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Position tracking response (PIF)</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="328450.fig.0015b" src="https://static.hindawi.com/articles/mpe/volume-2014/328450/figures/328450.fig.0015b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Position tracking response (GSAIF)</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="328450.fig.0015c" src="https://static.hindawi.com/articles/mpe/volume-2014/328450/figures/328450.fig.0015c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Tracking error (PIF)</td></tr></table></td></tr><tr class="fig-image" id="d"><td><img alt="328450.fig.0015d" src="https://static.hindawi.com/articles/mpe/volume-2014/328450/figures/328450.fig.0015d.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(d) </b>Tracking error (GSAIF)</td></tr></table></td></tr></table>

Mathematical Problems in Engineering

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Figure 15

Figure 15: Characteristic Modeling and Control of Servo Systems with Backlash and Friction 