Lecture 13

  • Due No due date
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In this lecture we discuss two examples of discontinuous models and control, namely friction and sliding mode control. By the end of this lecture, you should be able to:

  • Understand basic friction models, and the issues friction causes in the control of simple processes.
  • Have a basic understanding of friction compensation methods.
  • Understand the basic idea behind sliding mode control and why the method is robust to uncertainties.

The lecture slides for friction can be downloaded here: Download lec07.pdf

The lecture slides for sliding mode control can be downloaded here: lec09.pdf Download lec09.pdf

The notes from the class are here: FRTN05_Lecture13_annotated.pdf Download FRTN05_Lecture13_annotated.pdf

A brief introduction to friction

In this video we introduce and explain some basic models for friction.

Hunting

We use describing function analysis to study the hunting phenomena often induced by friction.

Friction compensation

We briefly describe some common methods for friction compensation.

 

Sliding mode control

The video on sliding mode has also been posted in Lecture 9.

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