Methods and systems for backlash compensation. Restrictive assumptions on the backlash nonlinearity (e.g. the same slopes of the lines, etc.) are not required. The compensator scheme has dynamic inversion structure, with a neural network in the feedforward path that approximates the backlash inversion...http://www.google.fr/patents/US6611823?utm_source=gb-gplus-shareBrevet US6611823 - Backlash compensation using neural network
