Date of Award


Degree Type


Degree Name

Master of Science in Electrical Engineering (MSEE)


Electrical, Computer, and Biomedical Engineering

First Advisor

Richard Vaccaro


Friction is one of the most frequently appearing sources of problems in mechanical systems. While several controller designs exist that successfully mitigate or compensate the friction effects in an application, they usually rely on a thoroughly identified model. The focus of this work is on verifying the suitability of a linear dual-loop controller for friction compensation in an arbitrary system. It does not require detailed estimation of a friction model for the design. The controller is complemented by a Luenberger observer, to improve the quality of state feedback.

Based on different model reduction approaches, the control architecture is effectively applied to a number of system descriptions employing various friction models. Through simulation, the versatility of the idea is reinforced. By comparing the control quality with that of approbated designs taken from recent literature, we show that the concept is competitive with model-based friction compensators. The advance with respect to robustness and disturbance rejection is shown. In preparation for an implementation, the control algorithm is discretized. To predict the practical performance of the controller, it is shown that added noise does not deteriorate the excellent results in the digital realm.



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