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.009a" src="https://static.hindawi.com/articles/mpe/volume-2014/328450/figures/328450.fig.009a.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.009b" src="https://static.hindawi.com/articles/mpe/volume-2014/328450/figures/328450.fig.009b.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 step signal input.</table>

Mathematical Problems in Engineering

fig9

Figure 9

Figure 9: Characteristic Modeling and Control of Servo Systems with Backlash and Friction 