Compensation for Dead-zone of Actuators in Mechatoronic Servo Systems by Nonlinear Separation Control

This paper described a compensation method for actuator dead-zone in mechatoronic servo systems. The proposed compensation method used a concept of the nonlinear separation control, and diminished dead-zone defect by taking an inversion of the dead-zone characteristics. The proposed dead-zone compensation by nonlinear separation control has been successfully applied to contour control of a pantograph type robot arm and stability control of an inverted pendulum.