Abstract
In this paper, a nonlinear robust compensation approach is proposed for plants with uncertain static friction. A simple first-order model with a nonlinear function is introduced to describe the static friction. The parameters of the compensator are determined so as to ensure the asymptotic stability of the error system between the plant and the given reference model. Finally, the compensator is applied to the position control of a pneumatic valve and experimental results are given to show the validity of the proposed approach.
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