{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T20:39:51Z","timestamp":1777927191719,"version":"3.51.4"},"reference-count":32,"publisher":"SAGE Publications","issue":"8","license":[{"start":{"date-parts":[[2018,11,7]],"date-time":"2018-11-07T00:00:00Z","timestamp":1541548800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100003141","name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","doi-asserted-by":"publisher","award":["308711"],"award-info":[{"award-number":["308711"]}],"id":[{"id":"10.13039\/501100003141","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":[[2019,9]]},"abstract":"<jats:p>A compensation strategy for plants that suffer from both stiction and saturation in the input is proposed. This strategy exploits a principle established previously by the authors referred to as the \u201csaturation equivalence.\u201d This approach shows that, for systems affected by a certain class of nonlinearities and saturation at the actuator, the addition of a right inverse of the nonlinearity, in series with the plant, results in a saturation. This article shows that a stiction model belongs to this class of nonlinearities and that it can be compensated using the method of \u201csaturation equivalence\u201d by implementing a right inverse for an approximate stiction model. Then, the resulting saturation can be treated by traditional methods, such as anti-windup or model predictive control. Results are demonstrated in a case study plant via simulation.<\/jats:p>","DOI":"10.1177\/0959651818806410","type":"journal-article","created":{"date-parts":[[2018,11,8]],"date-time":"2018-11-08T02:24:53Z","timestamp":1541643893000},"page":"945-960","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Controller structure for plants with combined saturation and stiction"],"prefix":"10.1177","volume":"233","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3426-8676","authenticated-orcid":false,"given":"Rodr\u00edguez-Li\u00f1\u00e1n","family":"Mar\u00eda del Carmen","sequence":"first","affiliation":[{"name":"CONACyT, Instituto Tecnol\u00f3gico de Ensenada, Ensenada, Mexico"}]},{"given":"William P","family":"Heath","sequence":"additional","affiliation":[{"name":"School of Electrical and Electronic Engineering, University of Manchester, Manchester, 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