A novel and simple compensation method for stick-slip limit cycle in PID controlled position systems is proposed in this paper. In order to analyze the property of the proposed compensation method, an iterative analysis approach is developed to determine and analyze the possible limit cycles in this kind of system with sufficient static friction. Based on the iterative analysis method, it is shown that the compensation method can reduce the amplitude of the limit cycles effectively. Computer simulation is used to validate the iterative analysis and the effectiveness of the proposed compensation strategy.

2000 American Control Conference
Department of Systems and Computer Engineering

Cao, Liyu (Liyu), & Schwartz, H.M. (2000). Stick-slip friction compensation for PID position control. In Proceedings of the American Control Conference (pp. 1078–1082).