STABILITY OF PDF CONTROLLER WITH STICK-SLIP FRICTION DEVICE

This paper-presents the precision control of drive devices with signif icant stick-slip, friction. The controller design follows the Pseudo-D erivative Feedback (PDF) control algorithm. Using the second order sys tem model, the PDF controller offers arbitrary pole placement. In this paper the stability proof for the controller with stick-slip friction is presented. On the basis of this proof the stability criteria are d erived. The paper also includes both the computer. simulation and the experimental works to confirm the theoretical result. The experiments conducted on a Traction Type Drive Device (TTDD) shows that control ac curacy of as high as +/-/ arc- second is achieved.