Kollar, László E., Stepan, G. and Turi, J. (2002) Digital balancing of systems with backlash. Decision and Control, 2002, Proceedings of the 41st IEEE Conference on, 3. pp. 3106-3111. ISSN 0191-2216

In the paper the dynamics of an inverted pendulum on a cart is investigated assuming backlash and time delays. The upper equilibrium of the pendulum is stabilized by control force which is provided by a motor driving the wheels of the cart through an elastic teeth belt. The contact between the teeth of the gear (rigid) and the belt (elastic) introduces a nonlinearity known as "backlash" and causes the oscillation of the controlled pendulum around its upper equilibrium.

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