A tale of two discontinuities
A class of systems which has two discontinuous functions on the right hand side of the governing differential equation is being examined in this paper. These systems are motivated by mechanical systems in which Columb friction is a major contributing factor to the limitations on repeatibility in precision positioning applications. We shall provide analytical results showing the existence of a new class of dynamic behavior which may be described as an extension of sliding mode for continuous time dynamic systems.
KeywordsSliding Mode Phase Trajectory Uncertain Nonlinear System System Trajectory Friction Compensation
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