Pontes, B. R.Oliveira, V. A.Balthazar, José Manoel [UNESP]2014-02-262014-05-202014-02-262014-05-202003-01-01Materials Science Forum, v. 440-441, p. 355-362.0255-5476http://hdl.handle.net/11449/24800In this work a switching feedback controller for stick-slip compensation of a 2-DOF mass-spring-belt system which interacts with an energy source of limited power supply (non-ideal case) is developed. The system presents an oscillatory behavior due to the stick-slip friction. As the system equilibrium for a conventional feedback controller is not the origin, a switching control law combining a state feedback term and a discontinuous term is proposed to regulate the position of the mass. The problem of tracking a desired periodic trajectory is also considered. The feedback system is robust with respect to the friction force that is assumed to be within known upper and lower bounds.355-362engdry frictionlimited power supplynon-ideal excitationnonlinear controlself-excitationArtigo10.4028/www.scientific.net/MSF.440-441.355WOS:000188594100044Acesso restrito2-s2.0-0344927054