@inproceedings{62f67e5d52d5426196b92f8011999cc1,
title = "Robust tracking control of servo systems with backlash: Nonsmooth H∞ control vs. linear H∞ control",
abstract = "Backlash and Coulomb friction occurring in systems with mechanical transmissions produce undesired inaccuracies, oscillations, and instability thereby degrading the system performance. In this paper, we made a comparative analysis of a nonsmooth H∞ controller [1] vs. a linear H∞ controller applied to a two-mass drive system with flexible shaft including backlash and Coulomb friction using measurements of the motor. The numerical results show the effectiveness of the nonsmooth H∞ synthesis, whereas the linear H∞-controller does not attenuate the undesirable oscillations in the control signals and the plant outputs.",
author = "Ponce, {Israel U.} and Yury Orlov and Aguilar, {Luis T.} and Joaquin Alvarez",
note = "Publisher Copyright: {\textcopyright} 2015 American Automatic Control Council.; 2015 American Control Conference, ACC 2015 ; Conference date: 01-07-2015 Through 03-07-2015",
year = "2015",
month = jul,
day = "28",
doi = "10.1109/ACC.2015.7171035",
language = "Ingl{\'e}s",
series = "Proceedings of the American Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2051--2056",
booktitle = "ACC 2015 - 2015 American Control Conference",
address = "Estados Unidos",
}