Low Velocity Friction Compensation - IEEE Control Systems Magazine

model-free design methodology is reported for identificaA tion and stable adaplive control of a class of systems with state dependent parasitic effects such as friction. The methodology is constructive, incorporates modeling error bound information, and ensures stable and convergent performance. The identifier and control designs are applicable to a class of lowdimensional dynamic systems with the cited parasitic effects. Validation of the designs is provided using two hardware example cases.