function [uc,uss]=backlash(urs,ur,ucs,s1)
if(ur>urs)
if((ur-s1)>=ucs)
uc=ur-s1;
else uc=ucs;
end
else if(ur<urs)
if ((ur+s1)<=ucs)
uc=ur+s1;
else uc=ucs;
end
else
uc=ucs;
end
end
uss=ur;