High precision point-to-point maneuvering of an experimental structure subject to friction via adaptive impulsive control.

Two adaptive impulsive control techniques designed to eliminate steady state error for a rigid body system subject to friction, and undergoing a point-to-point maneuver are implemented. Pulse width and pulse amplitude pulse width modulations are explored. It is shown that the results of the pulse amplitude modulation never generates limit cycles and has lower steady-state error than the pulse width modulation