Analytic Behaviors applied to backlash compensation

This work presents an analytic behaviors-based methodology for the construction of feasible right inverses to compensate for the nonlinear backlash nonlinearity. A GP search is implemented to minimize the compensation error generated by the prospective inverses. The selected found solutions are then tested for regulation and tracking in the model of a modified printer driven by a DC motor subject to saturation and backlash in the input. It should be noted that, in contrast with existing approaches, the found solutions are independent of the nonlinearity’s parameter. Then, the solutions remain valid for variations in the size of backlash.