Backlash compensation of discrete time systems using fuzzy logic

A backlash compensator is designed for discrete time systems using fuzzy logic. The classification property of fuzzy logic systems makes them a natural candidate for the rejection of errors induced by the backlash, which has regions in which it behaves differently. A discrete time tuning algorithm is given for the fuzzy logic parameters, so that the backlash compensation scheme becomes adaptive, guaranteeing small tracking errors and bounded parameter estimates. Formal discrete time nonlinear stability proofs are given to show that the tracking error is small. The fuzzy logic backlash compensator is simulated on a discrete time system to show its efficacy.