Extended Kalman filter based friction compensation

Two friction compensation schemes for a single-axis servomechanism are developed and compared. The first compensator is an integral control regulator/estimator which uses the Coulomb friction model. The second, more complicated, compensator is an extended Kalman filter (EKF) design which uses the friction model developed by P. R. Dahl in the late 1960s. Comparisons are made of the time response characteristics to determine if any increases in performance are worth the added complexity of the Dahl model EKF controller.>