Internal Model Control for Dynamic Systems With Preceded Backlash

A discrete-time internal model control approach for nonsmooth nonlinear systems described by a pseudo-Hammerstein model with backlash is presented. In this method, the controlled system is described by the pseudo-Hammerstein model, and the corresponding inverse model is constructed. Considering the existence of the model mismatch, the internal model control is implemented. As the model is switched among the different operating zones, the piecewise robust filters are proposed to improve the robust stability and transient performance of the control system. Finally, the simulation results based on the proposed method for a mechanical transmission system are presented.