A simulation technique for control systems with multiple interrelated nonlinear phenomena and energy storage elements

A method is described for the systematic development of computer models for control systems with complex relationships between multiple nonlinear phenomena and energy-storage elements. The specific example of an electromechanical position control system, with consideration of interrelated actions that include static friction, Coulomb friction, backlash, and a significant inertial load, is considered. The use of piecewise-linear models provides an extensive set of operational modes, but methodology is presented for consideration of the conditions for all possible changes of mode and the actions that accompany each change. Simulation results are presented