Friction Analysis Based on Integral Quadratic Constraints

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Passivity arguments have long been used in the analysis of systems with friction. This paper proves a new set of integral quadratic constraints, which reduces the conservatism of such methods. The result is used to derive a quantitative bound on the amount of integrator leakage that is needed to remove stiction-induced oscillations in a servo system.
Finally, an incremental version of the circle criterion is used to study the existence of subharmonics due to friction in a system subject to externally forced oscillations.
Original languageEnglish
Pages (from-to)645-652
JournalInternational Journal of Robust and Nonlinear Control
Issue number7
Publication statusPublished - 2001

Subject classification (UKÄ)

  • Control Engineering


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