Performance Analysis of a Control Strategy for Plants with Backlash and Saturation

Backlash and saturation are two common nonlinearities in physical systems and may result in poor control performance. In previous studies, a novel control strategy based on Saturation Equivalence (SE) and Model Predictive Control (MPC) has been proposed for plants subject to both saturation and backlash at their input. This paper analyzes the performance of the control strategy under parameter uncertainty and presents recommendations for its implementation. Simulation experiments illustrate the theoretical analysis and quantify the performance of the control strategy. The results show that it is better to underestimate than to overestimate both the backlash gap and the saturation level. Copyright (c) 2023 The Authors.