Sensitivity of MIQP-based design of MPC towards the uncertainty in backlash non-linearity gradient values

• Main Authors: H., Zabiri, Y., Samyudia
• Format: Conference or Workshop Item
• Published: 2005
• Subjects: TP Chemical technology
• Online Access: http://eprints.utp.edu.my/3769/1/P065.pdf; http://eprints.utp.edu.my/3769/
• Institution: Universiti Teknologi Petronas

Actuator backlash, among other actuator nonlinearities, has been known to cause serious degradation in any control loop performance if not handled efficiently. Current existing techniques in compensating the backlash effect includes the utilization of backlash nonlinear inverse, which is normal...