Date of Award


Degree Type


Degree Name

Master of Science in Electrical Engineering (MSEE)


Electrical, Computer, and Biomedical Engineering

First Advisor

Richard J. Vaccaro


This thesis presents the design and simulation of a friction compensation technique for position control systems. Linear techniques are used to implement an “inner loop” velocity tracking system to compensate for friction-induced disturbances. Intended to mimic the effect of an analog tachometer feedback loop on a servo drive motor, inner loops employing proportional feedback, integral feedback, and observer based feedback are explored. Simulation results indicate that the observer-based feedback loop is most effective at friction compensation. Hardware demonstrations substantiate the simulated results.



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