Ultimate boundedness sets for discrete-time linear systems with deadzone feedback controls

Minimum-time predictive control of a servo engine with deadzone

“…In the first mode the plant operates normally, and in the second mode the deadzone is active. In this approach, as suggested by Milani and Coelho (2001), these modes are distinguished by polyhedral partitions of the state space, defined as a set of linear inequalities within which each mode of the dynamics is linear. However, in this case the model of the deadzone is not obvious, due to its specific type.…”

“…Robust and adaptive techniques are used to cope with these uncertain descriptions while closed-loop stability is guaranteed a priori. Hybrid models appeared in a collection by Milani and Coelho (2001) and Milani (2005) where it is shown how the deadzone can be naturally captured by the piecewise affine (PWA) model. Recently, the PWA description was efficiently deployed to model a backlash nonlinearity in the MPC approach by Lagerberg and Egardt (2005) and Rostalski, Besselman, Barić, Belzen, and Morari (2007).…”