a method is disclosed for automatic estimation of backlash in a control system which includes a controller and a process to be controlled , wherein said controller is capable of performing integrating control of said process using one or more controller parameters to control a process output signal of said process with respect to a setpoint value thereof . the method involves monitoring said process output signal to determine a value reflecting momentary differences between setpoint value and actual value of said process output signal during a time interval ; and estimating the backlash from said determined value and said one or more controller parameters .