Identification and Control of Non-linear System with Friction

Umerujan SAWUT; Tsuyoshi HANAMOTO; Teruo TSUJI

doi:10.9746/sicetr1965.37.229

Transactions of the Society of Instrument and Control Engineers

Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654

Identification and Control of Non-linear System with Friction

Umerujan SAWUT, Tsuyoshi HANAMOTO, Teruo TSUJI

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Keywords: non-linear system identification, disturbance observer, genetic algorithm, sliding-mode control

JOURNAL FREE ACCESS

2001 Volume 37 Issue 3 Pages 229-234

DOI https://doi.org/10.9746/sicetr1965.37.229

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Abstract

In this paper, an identification and control method of a non-linear system with friction is proposed where a disturbance and sliding mode (SM) observer, and the genetic algorithm (GA) are used. The model of the nonlinear system used is a flexible arm system which is driven by a motor whose shaft has non negligible friction. The effectiveness of our proposal is confirmed by simulations and experiments

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