Cataloged from PDF version of article.Friction is an almost unavoidable component of many mechanical systems. When
not taken into account in designing control systems, the effect of friction may result
in the degradation of controlled system performance. This thesis deals with
the problem of designing a control system, for friction compensation in mechanical
systems, via pole placement and deadbeat methodologies. Pole placement design is
based on different performance measures and indices such as settling time, overshoot
and ITAE. Deadbeat controller design is based on parameterization of Diophantine
equations which depend on the reference signal to be tracked. System performance is
analyzed on simulation level by the application of the two methodologies in a hierarchical
feedback system structure, which provides both position and velocity control
separately. Simulation results show that both methodologies provide acceptable performance
as compared to the existing compensation schemes in literature and control
performances are improved with respect to their accuracy of tracking. In addition,
deadbeat controller is observed to be more promising in terms of minimum settling
time.Karahasanoğlu, Çınar YeşilM.S
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