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Unstable friction-induced vibrations are considered an annoying problem in several fields of engineering. Although several theoretical analyses have suggested that friction-excited dynamical systems may experience sub-critical bifurcations, and show multiple coexisting stable solutions, these phenomena need to be proved experimentally and on continuous systems. The present work aims to partially fill this gap. The dynamical response of a continuous system subjected to frictional excitation isdoi:10.1007/s11071-020-05983-y fatcat:biadccvkrzbhjogxujblraoc64