This paper addresses the dynamics identification and servo-controller design for a dual-stage electronic throttle body (ETB) designed for ride-by-wire applications in racing motorcycles. The dynamics of the system is identified and a model of the friction—which is the main nonlinear phenomenon affecting the control of the mechanism—is identified from experimental data. The identified model is used to design a controller composed of a linear part and a nonlinear friction compensator. Experimental tests are employed to validate the controller design and comparison with a linear controller is carried out in order to quantify the advantages brought by the friction compensation.

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