Multiple model feedback control of systems with nonsmooth nonlinearities

Abstract

The paper deals with multiple model adaptive control of continuous time system with friction and backlash. The realtime control was realized by PC with technological card and using MATLAB software together with Real- Time Toolbox. Real- Time Toolbox enables real- Time control of laboratory models or setups from MATLAB. There was used several models and methods for identification. The system was "preidentified" using multiple model identification and after that real- Time adaptive switching control was used for entire control.