Backlash phenomenon observation and identification in electromechanical system

In this paper a second order sliding mode observer with finite time convergence is developed for an electromechanical system with backlash. As a consequence of finite time convergence the sliding mode equivalent control is used to apply identification algorithms in order to characterize the backlash phenomenon. The dead zone amplitude and the disturbing torque are identified asymptotically. Simulation and experimental tests applied to an electromechanical actuator are given to support the theoretical development.