Friction generated limit cycles

This paper treats limit cycles caused by friction. The goal has been to explain phenomena that have been observed experimentally in mechatronic systems. Experiments have shown that oscillations of qualitatively different types can be obtained simply by changing controller specifications. Stiction is important in some cases but not in others. Necessary conditions for limit cycle are given for the case where stiction is important. Conditions for local stability of the limit cycles are also presented. The results give insight into phenomena observed experimentally.