Global dynamics of a mechanical system with dry friction

The global dynamics of a mechanical system with dry friction is completely analyzed. This mechanical system is a class of discontinuous and transcendental piecewise smooth differential systems. Moreover, it can exhibit rich and complex dynamical phenomena, such as Hopf bifurcation, grazing bifurcation, grazing-sliding bifurcation and bifurcations of limit cycles. Finally, all global phase portraits of the system are presented on the Poincaré disc.