Experimental Results for a Powertrain LQR-torque Compensator with Backlash Handling

This paper extends an LQR anti-jerk torque compensator for an automotive driveline with an optimization based handling of the backlash. The time derivative of the drive shaft torque, which is closely related to the vehicle jerk, is used as a virtual system output and regulated to zero. Thereby the controller does not need a reference model for generation of reference trajectories for the control law evaluation. The properties of the controller are discussed and the behavior is illustrated by simulation examples and verified by experiments.