Practical implementation of adaptive friction compensation based on partially identified LuGre model

We present implementation of the proposed adaptive control algorithm working together with a partially identified LuGre friction model to improve performance of linear permanent magnet motor servo. Experimental verification of the system operation is described. We discuss in detail identification of the model parameters, we describe necessary tests and comment on the model accuracy. We give detailed information about control system parameter tuning and we discuss the effect of measurement errors and numerical limitations of a discrete controller on the system performance. We investigate effects of parameter variations on the obtained tracking accuracy for different desired position trajectories.