Barbosa, Ramiro S.Machado, J. A. Tenreiro2015-11-302015-11-3020049783935798259http://hdl.handle.net/10400.22/7033This paper analyses the dynamical properties of systems with backlash and impact phenomena based on the describing function method. The dynamics is illustrated using the Nyquist and Bode plots and the results are compared with those of standard models.engbook part