Abstract:
In this thesis, switched hybrid approach has been adopted to model and control systems with
backlash nonlinearity. Switched hybrid systems are characterized by switching between different
vector fields in differential and/or difference equations, with one field active during a period of
time. Backlash nonlinearity is because of the gap in the transmission link, and it poses a problem
whenever there is a reversal. A generalized system representing automotive power train, singlelink robotic manipulator etc. is modeled as switched hybrid system; and, multiple model adaptive
control scheme has been developed and assessed for speed and position control of the output shaft,
taking into account the backlash in the system.
Thesis Supervisor: Dr Khalid Munawar
Title: Associate Professor
