Robust Output Control of an Uncertain Underactuated 2DOF Mass-Spring-Damper System with Backlash Based on Active Disturbance Rejection Control Structure

<div>Backlash phenomenon like a hysteresis and dead zone functions combination.</div>

Mathematical Problems in Engineering

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Figure 3

Figure 3: Robust Output Control of an Uncertain Underactuated 2DOF Mass-Spring-Damper System with Backlash Based on Active Disturbance Rejection Control Structure 

Figure 3 | Robust Output Control of an Uncertain Underactuated 2DOF Mass-Spring-Damper System with Backlash Based on Active Disturbance Rejection Control Structure 