Single and multistate integral friction models

In this note, a single state integral friction model is first proposed, defining separately the Dahl, Stribeck, and microviscous effects. The model is based on an integral closed form solution of the Dahl model. A multistate integral friction model, accounting for the hysteresis behavior with non local memory, has been then derived, combining the Dahl and the Maxwell slip model. The accuracy of the model has been experimentally assessed in friction compensation, both in open and in closed velocity loop.