Friction Compensation in Servo Systems Using a Local Control Design Approach

LMI-based design of robust gain-scheduling control for precise slow motion in a servodrive

“…The experimental setup consists of a 700 MHz PC operating under RT-LINUX and a digital servo adapter which communicate via an optical cable to ensure signal denoising [11]. The control algorithms are implemented in C using a sample time of T s = 0.001s.…”