Recursive Identification of Nonlinear Cascade Systems With Time-Varying General Input Backlash

Abstract

Recursive identification of nonlinear cascade systems with a time-varying general input backlash and a linear dynamic system is presented. A new analytic form of general backlash characteristic description is used, where instead of the straight lines determining the upward and downward parts of backlash characteristic, general curves are considered. All the parameters in the cascade model equation are separated and their estimation is solved as a quasi-linear problem using the recursive least squares method with internal variable estimation. Simulation studies are included for more cascade systems with time-varying general input backlash.