Reconstruction of the paper: A new model for control systems with friction
By: Canudas de Wit et al., 1995, IEEE Transactions on Automatic Control
I am trying to reconstruct as many figures as possible from the paper above.
Link to the paper: https://ieeexplore.ieee.org/document/376053
There are 2 m-files:
- demo1.m
This is the first attempt at reconstructing the paper. I use the basic Euler method here to perform the integration. It takes more time to complete the simulation since a high sampling rate is necessary to mantain stability. The system itself is a very stiff ODE.
- demo2.m
This is the second attempt at reconstructing the paper. Here, I use the built-in MATLAB solver: ode23s, which is designed for a stiff system. Thus, it takes less time to complete the simulation. In order to use MATLAB built-in solver, the problem must be first formalized. Plese see the PDF file here.
- demo3.m
This is an additional simulation to demonstrate the friction observer. This is not shown in the paper. Basically, this is a numerical simulation of section V.B, for position control with a unit-step input.
Not shown in the paper
Not shown in the paper
Fig. 3 of the paper
Fig. 2 of the paper
Fig. 6 of the paper
Fig. 4 of the paper
Fig. 8 of the paper
Not shown in the paper
