A Non-Linear Control Algorithm for a DC Servo Tracking System with Friction

Friction, especially its nonlinear components, may degrade the tracking performance of any servo drive systems. Focused on high precision positioning of DC electrical drive with friction the paper proposes a non linear control algorithm developed around an input-output linearization by state feedback. The feedback linearization controller aims to minimize the tracking error for the positioning DC drive considered, assuming micrometer scale for reference trajectories within the friction zero dynamics behavior prevails. Numerical simulation results concerning the tracking errors for large range of reference test signals, including the micrometer scale, are presented to demonstrate the effectiveness of feedback linearization controller.