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Mechanical backlash is a common trouble in all servo mechanisms that is created by mechanical defects i.e. wear or looseness. Backlash imposes nonlinearity on a linear control system and may be contributed to a limit cycle. Considering mechanical subsystem of a servo axis as an elastic two-mass system, modeling the backlash with a dead zone and choosing reduced order control system for the speed and current controller, the frequency bandwidth of vibration is estimated. The estimated frequencydoi:10.1109/iros.2009.5354660 dblp:conf/iros/Mohammadiasl09 fatcat:egopwso5rra33nlwjcge3kftlm