Optimal control of tracking systems with backlash and flexibility

A system with backlash and flexibility is compensated with an open-loop optimal control law combined with a linear partial-state feedback law. The compensation of backlash is treated as a rendezvous problem in optimal control, while the linear controller for flexibility is designed using techniques from classical control theory and singular perturbation theory. Simulation results show significant improvements in system tracking performance when backlash compensation is active.