First of all, friction is seen as static and dynamic conditions, and we separately discuss them as disturbances. For constant friction(Disturbance), we can design a friction module to cancel out friction, and I of PID is to increase system type(constant disturbance can be seen a way of step input), so steady state error can be controlled. As for static friction, it can be see as a high frequency oscillating back and forth like sharp triangular wave form. (But in practice, this is too naive), and disturbance is added extra at central point. From my understanding after this amazing video.
First of all, friction is seen as static and dynamic conditions, and we separately discuss them as disturbances.
For constant friction(Disturbance), we can design a friction module to cancel out friction, and I of PID is to increase system type(constant disturbance can be seen a way of step input), so steady state error can be controlled.
As for static friction, it can be see as a high frequency oscillating back and forth like sharp triangular wave form. (But in practice, this is too naive), and disturbance is added extra at central point.
From my understanding after this amazing video.
Thank you, sir.
You're welcome!
Thank you so much for the clear explanation. Would you please suggest a paper that applied that method?