Before revision:  However, many recent works in the literature do not consider the combined effects and compensation of these phenomena, and less focus on practical ways to identify model parameters in real field. In this paper , we propose a simplified piece-wise linear model to compensate both backlash and dead zone hysteresis together.
After revision:  However, many recent works in the literature do not consider the combined effects and compensation of these phenomena, and less focus on practical ways to identify model parameters in realistic conditions. This paper proposes a simplified piecewise linear model to compensate both backlash and dead zone hysteresis together.