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Robust Control Design for Mechanisms with Backlash

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Abstract (Original Language): 
A robust feedback control is designed for mechanisms with backlash, where regulation problem is solved under the presence of external perturbation. Appealing the static dead-zone model as a model for backlash, the nonlinear problem is posted in linear H_∞framework. Experimental realization in an industrial emulator with backlash is carried out, evidencing an acceptable performance.
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