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It is clear from figure that the output is “clipped” and minimum value is limited by the gap (g) in the mesh. 10. Input signal to actuator with backlash nonlinearity. 4We will compensate for the backlash by inserting a nonlinear compensator. 11. 12 shows the output (u) following addition of the nonlinear compensator. It can be seen that the “clipping” and minimum value error have been corrected. 12. Output of actuator with nonlinear backlash following addition of nonlinear compensator. Additional work is to be done with the dead zone and backlash compensation to add an adaptive feature to adjust the parameters of the compensation to changes (and differences) in the plants to be controlled.

29, no. 2, pp. 323-335, 1993. [30] Tao, G. and P. V. Kokotovic, “Adaptive control of plants with unknown hysteresis,” IEEE Trans. on Automatic Control, vol. 40, no. 2, pp. 200-212, 1995 [31] Tao, G. and P. V. Kokotovic, “Adaptive control of systems with backlash,” Automatica, vol. 29, no. 2, pp. 323-335, 1993. 26 [32] Tao, G. and P. V. Kokotovic , “ Adaptive control of plants with unknown hystereses ,” IEEE Trans. on Automatic Control, vol. 40, no. 2, pp. 200-212, 1995. [33] Tao, G. and P. V. Kokotovic, “Adaptive control of systems with unknown output hystereses ,” Proc.

This information is used in the mode selection algorithm to determine which of the available control algorithms to be used to control the system. The component activation algorithm uses the component_structure level data. The component status is the primary input to determine if the component is available for use. This status is changed by the diagnostic system that is being used to monitor system performance or by maintenance that have removed the component from service for repair. Other systems as desired by the control designer may be given access to the status parameter.

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