Static and Sliding Friction in Feedback Systems

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Abstract
One of the most common nonlinearities encountered in servomechanisms design is the friction phenomenon in electromechanical systems. Conventional linear theory fails to predict its effect upon system performance. This paper extends familiar techniques to the treatment of friction nonlinearity in servosystems. Frequency-response methods are employed throughout and the theoretical results are verified by means of an analog computer. Sliding friction and static friction are represented by describing functions which form the critical factors in determining system stability. The analysis indicates that certain series equalizers designed from linear theory may fail to achieve effective compensation in the presence of sliding and static friction. On the other hand, a subsidiary loop may avoid the stability problem while still realizing an essentially equivalent loop gain function.

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