Study of the efficiency of an algorithm that improves the accuracy of slow-motion control of a servo drive

The paper describes methods of improving motion quality of servo drive in case of set a very small motion changes. Servo drive as well as control problems connected with static friction are described. Solutions of such problems are offered. First one is integration zeroing, second one based on a unique idea introduced by authors and finally feeding into the system an insensibility. All that methods were verified on the base of simulation as well as practical validation, what was described.