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In this paper, we develop a full-order dynamic output feedback positioning tracking for servo-systems with friction, based on LuGre friction observer dynamics with fixed model parameters. To this end, we use the position and velocity measurements. The compensator design is appropriately built to ensure a global asymptotic stabilization of the tracking error dynamics under a specific pole clustering. And, we take into account some H 2 cost performance to offer an optimal control structure. The subsequent stated controller matrices are found by using the Linear Matrix Inequality approach. Simulation results illustrate the effectiveness of the proposed compensator. |
