Stick‐slip and convergence of feedback‐controlled systems with Coulomb friction

An analysis of stick-slip behavior and convergence trajectories in the feedback-controlled motion systems with discontinuous Coulomb friction is provided. A closed-form parameter-dependent stiction region, around an invariant equilibrium set, proved to be always reachable globally attractive. It shown that only asymptotic can achieved, at least one but mostly infinite number consecutive cycles, independent initial conditions. Theoretical developments are supported by a numerical results dedicated examples.