Reset PID Design for Motion Systems With Stribeck Friction

We present a reset control approach to achieve setpoint regulation of motion system with proportional-integral-derivative (PID)-based controller, subject Coulomb friction and velocity-weakening (Stribeck) contribution. While classical PID results in persistent oscillations (hunting), the proposed mechanism induces asymptotic stability significant overshoot reduction. Moreover, robustness an unknown static level Stribeck contribution is guaranteed. The closed-loop dynamics are formulated hybrid systems framework, using novel description element, proven accordingly. working principle controller demonstrated experimentally on stage electron microscope, showing superior performance over control.