Operator-based Robust Control for Nonlinear Uncertain Systems with Backlash-Like Hysteresis

In this paper, robust control for nonlinear uncertain systems with backlash-like hysteresis is considered by using operator based robust right coprime factorization approach. In details, a continuous backlash-like hysteresis operator is discussed and the existence of one-to-one hysteresis operator is proved under a sufficient condition. Moreover, an operator based control design structure is proposed for nonlinear uncertain system with backlash-like hysteresis. Based on the proposed design scheme, the designed system is robustly stable and the desired output tracking performance can be realized simultaneously. Finally, a simulation example on a nonlinear plant preceded by backlash is given to show the design procedure of the proposed method.