Friction compensation in the presence of flexibility

Abstract

An adaptive state feedback control scheme is developed for noncanonical form systems with unknown parameters, by employing static state feedback for pole placement and dynamic output feedback for parameter adaptation. The developed control scheme does not need a restrictive state space model matching condition for an adaptive state feedback design. An extended model reference adaptive control scheme is then developed for control of the two-body system with nonlinear friction components in the presence of flexibility.