Abstract
The switching behaviour of a second-order plant under the combined influence of system non-linearities such as Coulomb friction, stiction, backlash, dead zone, hysteresis and switching delay is analytically examined in this paper. In the first instance, the mathematical model which characterizes the system dynamics is formulated on a more realistic basis by considering the effect of these non-linearities as integrated parameters rather than isolated phenomena. This is then followed by the derivation of the modified switching equation which, upon careful mathematical manipulation, may be expressed in terms of a power series as a function of the system velocity. Such an approach not only leads to a better understanding of the general switching behaviour during the change over of forward to reversed drive, but also provides a more practical solution for the bang-bang control problem
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