Abstract
This paper presents two discrete/continuous-time hybrid control schemes using different feedback signals for control of a class of sandwich systems with a nonsmooth nonlinear block such as a dead-zone between two linear time-invariant dynamic blocks. The proposed control schemes employ an inner-loop discrete-time feedback design and an outer-loop continuous-time feedback design, combined with a dead-zone inverse, to cancel the dead-zone effect for improving output tracking. The paper also presents two switching backlash compensation control schemes for a gear-train sandwich system with backlash: one for known parameters and the other for unknown parameters, for improving system tracking performance.
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