ACC03-ASME0018 Controller Design for Flexible Systems with Friction: Linear Programming Approach

The design of a controller for a exible system under the in uence of friction is presented. A linear program-ming technique for nding an optimal control of linear exible systems is extended to frictional systems. A oating oscillator is used in the development, where friction and control input forces are acting on the rst mass. The result of the linear programming is a con-trol prole for rest-to-rest maneuvers where the static and Coulomb friction is included in the system model. The positive pulse controller is also developed based on the available frictional force. These controllers can be applied to precision positioning systems and servo applications where the friction and exibility are sig-ni cant.