Abstract
Backlash is one of several discontinuities found in different kinds of systems, it can be found in actuators of different types, such as mechanical and hydraulic, giving way to unwanted effects in the system behavior. PI loop shaping control design implementing a describing function to find the limit cycle oscillations and the appropriate control gain is developed. Therefore a frequency domain approach is implemented for the control of nonlinear system of any kind such as robotics, mechatronics, other kind of mechanisms, electrical motors etc. Finally, in order to corroborate the theoretical background explained in this article, the stabilization of a cart-pendulum system with the proposed control strategy is shown.