DOI: 10.1016/0005-1098(93)90070-A
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摘要: Abstract Uncertainties in the parameters but also structure of friction model may lead to inexact compensation servo-mechanisms. This will differences between predicted and real forces, provoking, certain cases (overcompensation) an oscillatory behaviour. paper proposes a new control scheme seeking strengthen closed-loop system properties eventuality overcompensation. design has advantage that, case overcompensation, oscillations can be reduced amplitude modified frequency independently specifications.