On the LuGre model and friction-induced hysteresis

In this paper, we study hysteresis induced by friction in a simple mass-spring system and then in a dc servo motor experimental setup. The experimental setup is modeled and simulated using the Dahl, LuGre, and Maxwell-slip friction models. Comparison of the experimental and simulation results reveals that the LuGre model provides the best model of the testbed's friction-induced hysteresis.