This paper studies the occurence of limit cycles for a simple PID-controlled motion system subjected to different shapes of static frictional damping functions. The friction characteristics are compared with respect to the so-called hunting phenomenon. In particular, a classification with respect to the ability to predict both stable and unstable limit cycles is obtained. Furthermore, the local stability of the equilibrium points is discussed and attractor basins are given. To perform this analysis, the closed-loop dynamics are represented with an equivalent one-dimensional map representing a so-called event map.
|Title of host publication||Proceedings of the 2002 American control conference, ACC : May 8-10, 2002, Anchorage, Alaska, USA. Vol. 3.|
|Place of Publication||Piscataway|
|Publisher||Institute of Electrical and Electronics Engineers|
|Publication status||Published - 2002|