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The presence of nonsmooth nonlinear characteristics such as dead-zone, backlash, hysteresis and piecewise-linearity is common in actuators and sensors, such as mechanical connections, hydraulic actuators and electric servomotors [47], [51], [91]. In most cases, they are caused by imperfections of system component characteristics. A dead-zone is a static “memoryless” nonlinearity which describes the component’s insensitivity to small signals. Backlash and hysteresis include delays in addition to insensitivity and are dynamic in nature. The presence of these nonlinearities severely limits system performance, giving rise to undesirable inaccuracy or oscillations or even leading to instability. For example, backlash prevents accurate positioning and may lead to chattering and limit cycles. The resultant wear and tear of gears increases backlash. These nonlinearities are usually poorly known and may vary with time. Also, in mass production, they vary from component to component. There are ways to overcome some of these problems such as the use of anti-backlash gears, however, they are quite costly. The same applies to materials with low hysteresis being costly. A desirable feedback control system should be able to compensate for such uncertainties.

The presence of nonsmooth nonlinear characteristics such as dead-zone, backlash, hysteresis and piecewise-linearity is common in actuators and sensors, such as mechanical connections, hydraulic actuators and electric servomotors [47], [51], [91]. In most cases, they are caused by imperfections of system component characteristics. A dead-zone is a static “memoryless” nonlinearity which describes the component’s insensitivity to small signals. Backlash and hysteresis include delays in addition to insensitivity and are dynamic in nature. The presence of these nonlinearities severely limits system performance, giving rise to undesirable inaccuracy or oscillations or even leading to instability. For example, backlash prevents accurate positioning and may lead to chattering and limit cycles. The resultant wear and tear of gears increases backlash. These nonlinearities are usually poorly known and may vary with time. Also, in mass production, they vary from component to component. There are ways to overcome some of these problems such as the use of anti-backlash gears, however, they are quite costly. The same applies to materials with low hysteresis being costly. A desirable feedback control system should be able to compensate for such uncertainties.

The presence of nonsmooth nonlinear characteristics such as dead-zone, backlash, hysteresis and piecewise-linearity is common in actuators and sensors, such as mechanical connections, hydraulic actuators and electric servomotors [47], [51], [91]. In most cases, they are caused by imperfections of system component characteristics. A dead-zone is a static “memoryless” nonlinearity which describes the component’s insensitivity to small signals. Backlash and hysteresis include delays in addition to insensitivity and are dynamic in nature. The presence of these nonlinearities severely limits system performance, giving rise to undesirable inaccuracy or oscillations or even leading to instability. For example, backlash prevents accurate positioning and may lead to chattering and limit cycles. The resultant wear and tear of gears increases backlash. These nonlinearities are usually poorly known and may vary with time. Also, in mass production, they vary from component to component. There are ways to overcome some of these problems such as the use of anti-backlash gears, however, they are quite costly. The same applies to materials with low hysteresis being costly. A desirable feedback control system should be able to compensate for such uncertainties.

The presence of nonsmooth nonlinear characteristics such as dead-zone, backlash, hysteresis and piecewise-linearity is common in actuators and sensors, such as mechanical connections, hydraulic actuators and electric servomotors [47], [51], [91]. In most cases, they are caused by imperfections of system component characteristics. A dead-zone is a static “memoryless” nonlinearity which describes the component’s insensitivity to small signals. Backlash and hysteresis include delays in addition to insensitivity and are dynamic in nature. The presence of these nonlinearities severely limits system performance, giving rise to undesirable inaccuracy or oscillations or even leading to instability. For example, backlash prevents accurate positioning and may lead to chattering and limit cycles. The resultant wear and tear of gears increases backlash. These nonlinearities are usually poorly known and may vary with time. Also, in mass production, they vary from component to component. There are ways to overcome some of these problems such as the use of anti-backlash gears, however, they are quite costly. The same applies to materials with low hysteresis being costly. A desirable feedback control system should be able to compensate for such uncertainties.

The presence of nonsmooth nonlinear characteristics such as dead-zone, backlash, hysteresis and piecewise-linearity is common in actuators and sensors, such as mechanical connections, hydraulic actuators and electric servomotors [47], [51], [91]. In most cases, they are caused by imperfections of system component characteristics. A dead-zone is a static “memoryless” nonlinearity which describes the component’s insensitivity to small signals. Backlash and hysteresis include delays in addition to insensitivity and are dynamic in nature. The presence of these nonlinearities severely limits system performance, giving rise to undesirable inaccuracy or oscillations or even leading to instability. For example, backlash prevents accurate positioning and may lead to chattering and limit cycles. The resultant wear and tear of gears increases backlash. These nonlinearities are usually poorly known and may vary with time. Also, in mass production, they vary from component to component. There are ways to overcome some of these problems such as the use of anti-backlash gears, however, they are quite costly. The same applies to materials with low hysteresis being costly. A desirable feedback control system should be able to compensate for such uncertainties.

The presence of nonsmooth nonlinear characteristics such as dead-zone, backlash, hysteresis and piecewise-linearity is common in actuators and sensors, such as mechanical connections, hydraulic actuators and electric servomotors [47], [51], [91]. In most cases, they are caused by imperfections of system component characteristics. A dead-zone is a static “memoryless” nonlinearity which describes the component’s insensitivity to small signals. Backlash and hysteresis include delays in addition to insensitivity and are dynamic in nature. The presence of these nonlinearities severely limits system performance, giving rise to undesirable inaccuracy or oscillations or even leading to instability. For example, backlash prevents accurate positioning and may lead to chattering and limit cycles. The resultant wear and tear of gears increases backlash. These nonlinearities are usually poorly known and may vary with time. Also, in mass production, they vary from component to component. There are ways to overcome some of these problems such as the use of anti-backlash gears, however, they are quite costly. The same applies to materials with low hysteresis being costly. A desirable feedback control system should be able to compensate for such uncertainties.

The presence of nonsmooth nonlinear characteristics such as dead-zone, backlash, hysteresis and piecewise-linearity is common in actuators and sensors, such as mechanical connections, hydraulic actuators and electric servomotors [47], [51], [91]. In most cases, they are caused by imperfections of system component characteristics. A dead-zone is a static “memoryless” nonlinearity which describes the component’s insensitivity to small signals. Backlash and hysteresis include delays in addition to insensitivity and are dynamic in nature. The presence of these nonlinearities severely limits system performance, giving rise to undesirable inaccuracy or oscillations or even leading to instability. For example, backlash prevents accurate positioning and may lead to chattering and limit cycles. The resultant wear and tear of gears increases backlash. These nonlinearities are usually poorly known and may vary with time. Also, in mass production, they vary from component to component. There are ways to overcome some of these problems such as the use of anti-backlash gears, however, they are quite costly. The same applies to materials with low hysteresis being costly. A desirable feedback control system should be able to compensate for such uncertainties.

The presence of nonsmooth nonlinear characteristics such as dead-zone, backlash, hysteresis and piecewise-linearity is common in actuators and sensors, such as mechanical connections, hydraulic actuators and electric servomotors [47], [51], [91]. In most cases, they are caused by imperfections of system component characteristics. A dead-zone is a static “memoryless” nonlinearity which describes the component’s insensitivity to small signals. Backlash and hysteresis include delays in addition to insensitivity and are dynamic in nature. The presence of these nonlinearities severely limits system performance, giving rise to undesirable inaccuracy or oscillations or even leading to instability. For example, backlash prevents accurate positioning and may lead to chattering and limit cycles. The resultant wear and tear of gears increases backlash. These nonlinearities are usually poorly known and may vary with time. Also, in mass production, they vary from component to component. There are ways to overcome some of these problems such as the use of anti-backlash gears, however, they are quite costly. The same applies to materials with low hysteresis being costly. A desirable feedback control system should be able to compensate for such uncertainties.

The presence of nonsmooth nonlinear characteristics such as dead-zone, backlash, hysteresis and piecewise-linearity is common in actuators and sensors, such as mechanical connections, hydraulic actuators and electric servomotors [47], [51], [91]. In most cases, they are caused by imperfections of system component characteristics. A dead-zone is a static “memoryless” nonlinearity which describes the component’s insensitivity to small signals. Backlash and hysteresis include delays in addition to insensitivity and are dynamic in nature. The presence of these nonlinearities severely limits system performance, giving rise to undesirable inaccuracy or oscillations or even leading to instability. For example, backlash prevents accurate positioning and may lead to chattering and limit cycles. The resultant wear and tear of gears increases backlash. These nonlinearities are usually poorly known and may vary with time. Also, in mass production, they vary from component to component. There are ways to overcome some of these problems such as the use of anti-backlash gears, however, they are quite costly. The same applies to materials with low hysteresis being costly. A desirable feedback control system should be able to compensate for such uncertainties.

The presence of nonsmooth nonlinear characteristics such as dead-zone, backlash, hysteresis and piecewise-linearity is common in actuators and sensors, such as mechanical connections, hydraulic actuators and electric servomotors [47], [51], [91]. In most cases, they are caused by imperfections of system component characteristics. A dead-zone is a static “memoryless” nonlinearity which describes the component’s insensitivity to small signals. Backlash and hysteresis include delays in addition to insensitivity and are dynamic in nature. The presence of these nonlinearities severely limits system performance, giving rise to undesirable inaccuracy or oscillations or even leading to instability. For example, backlash prevents accurate positioning and may lead to chattering and limit cycles. The resultant wear and tear of gears increases backlash. These nonlinearities are usually poorly known and may vary with time. Also, in mass production, they vary from component to component. There are ways to overcome some of these problems such as the use of anti-backlash gears, however, they are quite costly. The same applies to materials with low hysteresis being costly. A desirable feedback control system should be able to compensate for such uncertainties.