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In this method, a dynamic parameter estimation scheme based on a subgradient is developed to handle the nonsmooth problem caused by the backlash embedded in the system. The search direction of the algorithm is estimated based on the so\u2010called bundle method. Then, the convergence of the algorithm is discussed. After that, simulation results on a nonsmooth sandwich system are presented to validate the proposed estimation algorithm. Finally, the application of the proposed method to an<jats:italic>X-Y<\/jats:italic>moving positioning stage is illustrated.<\/jats:p>","DOI":"10.1155\/2012\/457603","type":"journal-article","created":{"date-parts":[[2012,7,15]],"date-time":"2012-07-15T21:04:00Z","timestamp":1342386240000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Nonsmooth Recursive Identification of Sandwich Systems with Backlash\u2010Like Hysteresis"],"prefix":"10.1155","volume":"2012","author":[{"given":"Ruili","family":"Dong","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yonghong","family":"Tan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hui","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yangqiu","family":"Xie","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2012,7,15]]},"reference":[{"key":"e_1_2_10_1_2","doi-asserted-by":"publisher","DOI":"10.1109\/78.917809"},{"key":"e_1_2_10_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2002.1017722"},{"key":"e_1_2_10_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/9.341794"},{"key":"e_1_2_10_4_2","doi-asserted-by":"crossref","unstructured":"CeroneV.andRegrutoD. 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