... principle for designing an adaptive robust tracking controller for gearing transmission systems, in which the unpredictable elasticity of cogwheels and the imprecise description of backlash between ... of the two wheels and J1 , J , Jd are the inertia moments of wheel 1, wheel and the driving motor respectively and J1 Jd J1 denotes the sum of inertia moments of wheel and the driving motor ... the following controller is used with d (x , t ) being bounded by a number , that is d (x , t ) for all x ,t (6) Robust and Adaptive Tracking Controller 3.1 Sliding mode controller Let...