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- W2114816712 abstract "Actuator nonlinearities are often neglected in control system design, though they can remarkably affect systems performance. This paper presents sliding mode controllers able to robustly stabilize an intrinsically nonlinear uncertain plant, in the presence of dead zone or backlash in the actuator devices. These nonlinearities have been assumed uncertain, too, with known bounds on the parameters. In the case of backlash, two different approaches have been presented, obtained using a quasistatic and a dynamic description of the nonlinearity. Simulation results for a single input-single output (SISO) plant have been provided, addressing both the stabilization and the servo problem for a mechanical system representing a robot-like system with one link." @default.
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- W2114816712 date "2002-01-01" @default.
- W2114816712 modified "2023-10-16" @default.
- W2114816712 title "Robust stabilization of nonlinear uncertain plants with backlash or dead zone in the actuator" @default.
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- W2114816712 doi "https://doi.org/10.1109/87.974349" @default.
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