In this report, some 40 papers related to backlash control have been studied, and their results have been arranged into a systematic structure, where the main categories are linear, passive and active nonlinear controllers. The emphasis of the study is on control strategies suitable for automotive powertrain applications, but the reported results are not limited to this field. The reported results are based on partly different system structures, depending on how the backlash is incorporated in the system. Different backlash models are also used. Therefore, the report contains a section that describes these differences as well.