On analysis of limit cycles in positioning systems near Striebeck velocities

The paper deals with the analysis of friction induced oscillatory behavior in mechanical control systems at non-zero velocities. It is considered that in the positioning system under investigation the mechanical plant is controlled by linear control algorithm and the reference position trajectory is time varying. To perform the limit cycle analysis near the Striebeck velocity, a novel linearly parameterized friction model is introduced for the separation of high and low velocity regimes (under and over the Striebeck velocity). Based on this model, the limit cycles that occurs in mechatronic systems near Striebeck velocities can be predicted and studied using techniques from classical linear system theory.