Stability of PDF controller with stick-slip friction device

This paper presents the precision control of drive devices with significant stick-slip friction. The controller design follows the pseudo-derivative feedback (PDF) control algorithm. Using the second order system model, the PDF controller offers arbitrary pole placement. In this paper, the stability proof for the controller with stick-slip friction is presented. On the basis of this proof, the stability criteria are derived. The paper also includes computer simulation and experimental work to confirm theoretical results. The experiments conducted on a traction type drive device (TTDD) shows that control accuracy of as high as ±1 arc-second is achieved