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Reconstruction of the paper: A new model for control systems with friction
By: Canudas de Wit et al., 1995, IEEE Transactions on Automatic Control

I am trying to reconstruct as many figures as possible from the paper above.

Link to the paper: https://ieeexplore.ieee.org/document/376053

There are 2 m-files:

1. demo1.m

This is the first attempt at reconstructing the paper. I use the basic Euler method here to perform the integration. It takes more time to complete the simulation since a high sampling rate is necessary to mantain stability. The system itself is a very stiff ODE.

2. demo2.m

This is the second attempt at reconstructing the paper. Here, I use the built-in MATLAB solver: ode23s, which is designed for a stiff system. Thus, it takes less time to complete the simulation. In order to use MATLAB built-in solver, the problem must be first formalized. Plese see the PDF file here.

3. demo3.m

This is an additional simulation to demonstrate the friction observer. This is not shown in the paper. Basically, this is a numerical simulation of section V.B, for position control with a unit-step input.

Not shown in the paper

Not shown in the paper

Fig. 3 of the paper

Fig. 2 of the paper

Fig. 6 of the paper

Fig. 4 of the paper

Fig. 8 of the paper

Not shown in the paper