On PID Chattering Control Law to Cope with Friction Forces

L.A. Zuppo (Mexico)


PID control, Friction, Chattering.


In the present paper we developed a PID control law with a chattering term to face with friction applied to a mechanical system. Derivation of the control law was obtained using the LuGre friction model; however, our PID controller is robust against variation in the friction model as is illustrated by numerical experiments.

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