Abstract
This paper is concerned with the design of a discrete time Model Reference Adaptive Control System (WACS) for motion control under unknown nonlinear friction. Static and Coulomb friction forces are represented by a deadzone element for the input, which is active at low velocities. and disturbance. which may take different values depending on the motion direction. respectively. Then, the WAes for the nonlinear friction is a cascade combination of a nonlinear block which contains the deadzone and the disturbance term and a linear dynamic block. Experimental results from a rotary servo system demonstrate the effectiveness of the proposed WAeS
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