To stick or to slip: A reset PID control perspective on positioning systems with friction

A. Bisoffi, R. Beerens, W.P.M.H. Heemels, H. Nijmeijer, N. van de Wouw, L. Zaccarian (Corresponding author)

Research output: Contribution to journalReview articlepeer-review

10 Citations (Scopus)
37 Downloads (Pure)


We overview a recent research activity where suitable reset actions induce stability and performance of PID-controlled positioning systems suffering from nonlinear frictional effects. With a Coulomb-only effect, PID feedback produces a set of equilibria whose asymptotic (but not exponential) stability can be certified by using a discontinuous Lyapunov-like function. With velocity weakening effects (the so-called Stribeck friction), the set of equilibria becomes unstable with PID feedback and the so-called “hunting phenomenon” (persistent oscillations) is experienced. Resetting laws can be used in both scenarios. With Coulomb friction only, the discontinuous Lyapunov-like function immediately suggests a reset action providing extreme performance improvement, preserving stability and inducing desirable exponential convergence of a relevant subset of the solutions. With Stribeck, a more sophisticated set of logic-based reset rules recovers global asymptotic stability of the set of equilibria, providing an effective solution to the hunting instability. We clarify here the main steps of the Lyapunov-based proofs associated with our reset-enhanced PID controllers. These proofs involve building semiglobal hybrid representations of the solutions in the form of hybrid automata whose logical variables enable transforming the aforementioned discontinuous function into smooth or at least Lipschitz ones. Our theoretical results are illustrated by extensive simulations and experimental validation on an industrial nano-positioning system.

Original languageEnglish
Pages (from-to)37-63
Number of pages27
JournalAnnual Reviews in Control
Publication statusPublished - 2020


  • Coulomb friction
  • Hybrid automata
  • Lyapunov results
  • Mechatronic application
  • Positioning system
  • Reset control
  • Stick and slip
  • Stribeck friction


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