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Dr. Assoc. Prof. Ahmad Taher Azar :: Publications:

Title:
Azar AT; Serrano FE (2016) Stabilization of Mechanical Systems with Backlash by PI Loop Shaping. International Journal of System Dynamics Applications (IJSDA), 5(3): 20-47.
Authors: Not Available
Year: 2016
Keywords: Not Available
Journal: Not Available
Volume: Not Available
Issue: Not Available
Pages: Not Available
Publisher: Not Available
Local/International: International
Paper Link:
Full paper Ahmad Taher Azar_Stabilization-of-Mechanical-Systems-with-Backlash-by-PI-Loop-Shaping.pdf
Supplementary materials Not Available
Abstract:

Backlash is one of several discontinuities found in different kinds of systems, it can be found in actuators of different types, such as mechanical and hydraulic, giving way to unwanted effects in the system behavior. PI loop shaping control design implementing a describing function to find the limit cycle oscillations and the appropriate control gain is developed. Therefore a frequency domain approach is implemented for the control of nonlinear system of any kind such as robotics, mechatronics, other kind of mechanisms, electrical motors etc. Finally, in order to corroborate the theoretical background explained in this article, the stabilization of a cart-pendulum system with the proposed control strategy is shown.

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