Positioning Control of a 2-Mass Spring System with Static and Kinetic Friction Using Hybrid Controller

This paper proposes a new hybrid controller for a 2-mass spring system with stick-slip motion. The 2-mass spring system is considered as a hybrid system with two states: a static friction state and a kinetic friction state. In controller design, the hybrid system is described as a piecewise affine (PWA) system, which is one of the modeling frameworks of hybrid systems. It is known that the model predictive control method is applicable to PWA systems. The effectiveness of the controller has been evaluated by computer simulations.