中文摘要：

这份报纸建议为机械传播系统的内部模型控制(NSIMC ) 途径与反斜线由所谓的三明治系统描述了的分离时间的 nonsmooth。在这个方法，一个动态赔偿者被介绍补偿线性分系统输入的效果。因此，有反斜线的三明治系统能与反斜线作为一个 pseudo-Hammerstein 系统被简化。相应 NSIMC 策略被设计控制这个系统。控制器的设计过程被考虑模型错误与反斜线以及输入的补偿错误的效果包含了线性分系统在柔韧的稳定性上基于分析介绍。而且当模型在不同操作地区之中被交换，柔韧的过滤器被建议保证柔韧的稳定性和系统的令人满意的控制性能。

英文摘要：

This paper proposes a discrete-time nonsmooth internal model control （NSIMC） approach for mechanical transmission systems described by so-called sandwich system with backlash. In this method, a dynamic compensator is introduced to compensate for the effect of the input linear subsystem. Thus, the sandwich systems with backlash can be simplified as a pseudo-Hammerstein system with backlash. The corresponding NSIMC strategy is designed to control this system. The design procedure of the controller is presented based on the analysis on the robust stability by considering the model errors involved with the effect of backlash as well as the compensated error of the input linear subsystem. Moreover, as the model is switched among the different operating zones, the robust filters are proposed to guarantee the robust stability and satisfactory control performance of the system.