# Model-Free Sliding-Mode-Based Detection and Estimation of Backlash in Drives With Single Encoder

> Research article (IEEE Transactions on Control Systems Technology, 2019) · cited 14× · AI/ML

**Wikidata**: [openalex:W2996156566](https://www.wikidata.org/wiki/openalex:W2996156566)  
**Source**: https://4ort.xyz/entity/model-free-sliding-mode-based-detection-and-estimation-of-backlash-in-drives-with-single-encoder