{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T20:38:05Z","timestamp":1777927085954,"version":"3.51.4"},"reference-count":20,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2017,5,22]],"date-time":"2017-05-22T00:00:00Z","timestamp":1495411200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100007350","name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","doi-asserted-by":"publisher","award":["308711"],"award-info":[{"award-number":["308711"]}],"id":[{"id":"10.13039\/501100007350","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2017,7]]},"abstract":"<jats:p>A compensation scheme is proposed for plants subject to both saturation and backlash in series at the actuator. It is shown that the series connection of a backlash inverse, saturation and the backlash itself is equivalent to a saturation function at a different level to the original saturation, and we call this the \u2018saturation equivalence\u2019. Therefore, it is proposed to include such a backlash inverse in the compensator. This is shown to be optimal in a sense defined in the article. It is then straightforward to devise a compensator scheme based on traditional anti-windup. This is illustrated in both simulation and on a laboratory scale rig with severe backlash. A correction for the chattering observed in the control signal due to the discontinuous nature of the nonlinearity inverse is also presented.<\/jats:p>","DOI":"10.1177\/0959651817692471","type":"journal-article","created":{"date-parts":[[2017,5,23]],"date-time":"2017-05-23T00:25:52Z","timestamp":1495499152000},"page":"471-480","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":4,"title":["Backlash compensation for plants with saturating actuators"],"prefix":"10.1177","volume":"231","author":[{"given":"Mar\u00eda del Carmen","family":"Rodr\u00edguez-Li\u00f1\u00e1n","sequence":"first","affiliation":[{"name":"CONACyT- Instituto Tecnolgico de Ensenada, Ensenada, Mexico"}]},{"given":"William P.","family":"Heath","sequence":"additional","affiliation":[{"name":"School of Electrical and Electronic Engineering, University of Manchester, Manchester, UK"}]}],"member":"179","published-online":{"date-parts":[[2017,5,22]]},"reference":[{"key":"bibr1-0959651817692471","volume-title":"Adaptive control of systems with actuator and sensor nonlinearities","author":"Tao G","year":"1996"},{"key":"bibr2-0959651817692471","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-77807-3_8"},{"key":"bibr3-0959651817692471","first-page":"1074","volume-title":"2010 IEEE international conference on robotics and automation (ICRA)","author":"Agrawal V"},{"key":"bibr4-0959651817692471","doi-asserted-by":"publisher","DOI":"10.1111\/j.1934-6093.2000.tb00147.x"},{"key":"bibr5-0959651817692471","doi-asserted-by":"publisher","DOI":"10.1177\/1077546307077499"},{"key":"bibr6-0959651817692471","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(02)00047-X"},{"key":"bibr7-0959651817692471","doi-asserted-by":"publisher","DOI":"10.3166\/ejc.15.418-440"},{"key":"bibr8-0959651817692471","doi-asserted-by":"publisher","DOI":"10.1515\/9781400839025"},{"key":"bibr9-0959651817692471","volume-title":"PID controllers: theory, design and tuning","author":"\u00c5strom K","year":"1995"},{"key":"bibr10-0959651817692471","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-0047-8"},{"key":"bibr11-0959651817692471","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta:20070435"},{"key":"bibr12-0959651817692471","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-6670(17)31882-7"},{"key":"bibr13-0959651817692471","doi-asserted-by":"publisher","DOI":"10.1016\/j.jprocont.2006.01.003"},{"key":"bibr14-0959651817692471","first-page":"2665","volume-title":"Proceedings of the 2010 American Control Conference (ACC)","author":"Tarbouriech S"},{"key":"bibr15-0959651817692471","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2011.02.020"},{"key":"bibr16-0959651817692471","first-page":"6652","volume-title":"2013 IEEE 52nd annual conference on decision and control (CDC)","author":"Tarbouriech S"},{"key":"bibr17-0959651817692471","doi-asserted-by":"publisher","DOI":"10.1016\/S0167-6911(99)00059-6"},{"key":"bibr18-0959651817692471","first-page":"1394","volume-title":"2012 IEEE international conference on control applications (CCA) part of 2012 IEEE multi-conference on systems and control","author":"Rodr\u00edguez-Li\u00f1\u00e1n MC"},{"key":"bibr19-0959651817692471","doi-asserted-by":"publisher","DOI":"10.3182\/20120823-5-NL-3013.00047"},{"key":"bibr20-0959651817692471","doi-asserted-by":"publisher","DOI":"10.7227\/IJEEE.50.3.7"}],"container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651817692471","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0959651817692471","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651817692471","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T22:34:39Z","timestamp":1777674879000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0959651817692471"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,5,22]]},"references-count":20,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2017,7]]}},"alternative-id":["10.1177\/0959651817692471"],"URL":"https:\/\/doi.org\/10.1177\/0959651817692471","relation":{},"ISSN":["0959-6518","2041-3041"],"issn-type":[{"value":"0959-6518","type":"print"},{"value":"2041-3041","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,5,22]]}}}