Compensation and control of dither-smoothed nonlinearities

Kuo Kai Shyu, Yun Yao Lee

Research output: Contribution to journalArticlepeer-review

8 Scopus citations


A novel approach to linearize nonlinearities commonly inherent in actuators is proposed in this paper. This approach solves the inverse of the nonlinearity without requiring its I/O relations as a one-on-one map, which is necessary for the current inverse-model method. By introducing the concept of the equivalent gain, the proposed method systematically finds the inverse model of the nonlinearity by solving a zero-finding problem. Discussions on the existence and uniqueness of the solution are given in this paper. A simulation example is presented to demonstrate how the task in finding the inverse of a complicated nonlinearity can be simplified by the proposed method. Experimental evaluations on a position servo system with conspicuous friction reveal that the dither-smoothed nonlinearities are still nonlinear, and compensating action like the proposed method is necessary for control systems using the dithering technology.

Original languageEnglish
Pages (from-to)512-519
Number of pages8
JournalJSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
Issue number2
StatePublished - 15 Dec 2006


  • Compensation
  • Dither techniques
  • Friction
  • Inverse problems
  • Linearization
  • Nonlinearities


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