Characteristic Modeling and Control of Servo Systems with Backlash and Friction

Figure 5

Verification results when 𝑢(𝑡)=10 V.

(a) 𝛼₁(𝑘),   𝛼₂(𝑘)

(b) 𝛽₀(𝑘)

(c) Characteristic model output

(d) 𝑒(𝑘)