Patent ID: 8265779

Claim:
A method for automatic estimation of backlash in a control system which includes a controller and a process to be controlled, wherein said controller is capable of performing integrating control of said process using one or more controller parameters to control a process output signal of said process with respect to a setpoint value thereof, the method being characterized by: monitoring said process output signal to determine a value reflecting momentary differences between setpoint value and actual value of said process output signal during a time interval; integrating a control error of said process during said time interval and determining said value as Δ ⁢ ⁢ y = ∫ t i t i + 1 ⁢  e  ⁢ ⅆ t / Δ ⁢ ⁢ t , where Δt=t i+1 −t i and e=y sp −y=(setpoint value of said process output signal)−(actual value of said mass output signal). ; and estimating the backlash from said determined value and said one or more controller parameters.