Observer design for an experimental rotor system with discontinuous friction

In this paper we present an experimental observer design for a rotor system with friction. The model of the system exhibits set-valued static friction law with the Stribeck effect. As the model of the setup is non-smooth and non-Lipschitz, observer has to be designed using mathematical tools from convex analysis and the theory of differential inclusions. The designed observer guarantees that there exists a unique solution to the observer dynamics and that the estimated state converges to the true state of the system. Simulation and experimental results illustrate the design and performance of the observer in practice