Digital balancing of systems with backlash

László E. Kollár, Gábor Stépán, János Turi

Research output: Contribution to journalConference article


In this paper the dynamics of an inverted pendulum on a cart is investigated assuming backlash and time delays. The upper equilibrium of the pendulum is stabilized by control force which is provided by a motor driving the wheels of the cart through an elastic teeth belt. The contact between the teeth of the gear (rigid) and the belt (elastic) introduces a nonlinearity known as "backlash" and causes the oscillation of the controlled pendulum around its upper equilibrium.

Original languageEnglish
Pages (from-to)3106-3111
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Publication statusPublished - Dec 1 2002
Event41st IEEE Conference on Decision and Control - Las Vegas, NV, United States
Duration: Dec 10 2002Dec 13 2002

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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