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A method of compensating for Stribeck-type nonlinear friction torque for a two-mass mechatronic system has been devised based on the equivalent-inputdisturbance (EID) approach. The nonlinearity in the system is treated as an input-dependent disturbance, and an EID estimator is designed that estimates it. The incorporation of the estimate into the control input compensates for the nonlinearity. Simulation results demonstrate the validity of the method and show that the compensation accuracy is closely related to the time constant of the low-pass filter.

This paper considers the problem of the compensation of an unknown dead zone in the input of a plant. A new compensation method is presented based on the estimation of an equivalent input disturbance (EID). Unlike other methods, this method does not require the exact information of a dead zone. First, we consider the dead zone as an input-dependent disturbance and employ an EID estimator to estimate it. Then, we incorporate the estimate in the control input and compensate the effect of the dead zone almost completely. Simulation results demonstrate the validity of the method.