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Encyclopedia of Lubricants and Lubrication
We consider a servo dynamics with friction modeled by static, memoryless nonlinear function of velocity, with strong influence of Stribeck effect. We consider approximation of the Stribeck curve by a polynomial. The approximating polynomial coefficients become control parameters modified by the adaptive loop. We formulate the control algorithm and prove its stability by Lyapunov function approach, and finally we describe several numerical experiments demonstrating features of the proposeddoi:10.1007/978-3-642-22647-2_274 fatcat:inlsceifvjgkdjidlhw5wis6x4