Friction compensation: PID synthesis and state control

  title={Friction compensation: PID synthesis and state control},
  author={Friedhelm Altpeter and Piotr Myszkorowski and Michael Kocher and Roland Longchamp},
  journal={1997 European Control Conference (ECC)},
Synthesis of friction compensation using standard PID and advanced state controllers is discussed in this paper. Conventional digital controller technology leads to medium performance of PID control for very small displacements. By state feedback linearization, excellent performances for any reference are achieved with economically reasonable sensors and… CONTINUE READING