Abstract
This paper describes a solution to the problem of �stick-slip� for an electro-pneumatic system. The phenomenon of �stick-slip� may appear during the mechanical static state when the position is fixed but the pressures continue to evolve in each actuator chamber, until exceeding the dry friction zone. The system is then in partial equilibrium. The idea to avoid this phenomenon is a switching control law between the tracking position control and the pressure regulation.
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