화학공학소재연구정보센터
IEEE Transactions on Automatic Control, Vol.63, No.8, 2654-2661, 2018
Global Asymptotic Stability of a PID Control System With Coulomb Friction
For a point mass subject to Coulomb friction in feedback with a PID controller, we consider a model based on a differential inclusion comprising all the possible magnitudes of static friction during the stick phase and having unique solutions. We study the set of all equilibria and we establish its global asymptotic stability using a discontinuous Lyapunov-like function, and a suitable LaSalle's invariance principle. The well-posedness of the proposed model allows to establish useful robustness results, including an ISS property from a suitable input in a perturbed context. Simulation results are also given to illustrate our statements.