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Authors
J. C. A. de Bruin; A. Doris; N. van de Wouw; H. Nijmeijer

Digital Object Identifier (DOI)
10.3182/20070829-3-RU-4912.00006

Page Numbers:
44-48

Index Terms
setpoint control,discontinuous systems,set-valued friction,limit cycles

Abstract
An experimental implementation of an output-feedback controller on a rotor dynamic system with set-valued friction is presented. The system exhibits coexisting stable/unstable equilibria and undesired friction-induced limit cycles. In the system, the friction and actuation are non-collocated, which prevents the application of standard friction compensation techniques. Therefore, an output-feedback control strategy is proposed that eliminates the friction-induced limit cycling, stabilizes the desired equilibrium and is robust for uncertainties in the friction model. The effectiveness of the proposed control strategy is shown both in simulations and experiments.

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