Backlash nonlinearity switching control with proximate time optimal compensation

Based on servo system, a backlash nonlinear switching control scheme with PTO (proximate time optimal) compensation was presented. With linear controller used in contact period, sliding control with PTO surface is switched into when system entering backlash. A supervising mechanism was introduced to find suitable moment switching from linear control to PTO sliding control, ensuring boundary input and boundary output (BIBO) stability of the whole system. The design can effectively eliminate the colliding disturbance resulting from backlash and improve the robustness of controller.