A Nonsmooth Multi-Step Predictive Control Strategy for A Sandwich System With Backlash.

A multi-step predictive control strategy for a sandwich system with backlash is proposed. Backlash is a nonsmooth multi-value mapping, so a classical predictive control method cannot be used in the system directly. In the proposed control approach, a multi-step predictive controller based on nonsmooth optimization technique is designed. Moreover, simulated results are illustrated the validation of the proposed method.