Control design of nonlinear mechanical systems with friction

This paper presents a solid analysis and control design of nonlinear mechanical systems with friction. Utilizing the Filippov solution concept, it is shown that the class of nonsmooth systems can not be asymptotically stabilized via any Lipschitz continuous static control law. Then, a sliding mode controller which makes the nonsmooth mechanical system asymptotically stable is derived. The validity of the controller design is verified by a simulation example for an electronic throttle control system.