Maximum integrator gain of PID on performing position control of DC motor in the presence of Stribeck friction: Kalman conjecture approach

The application of PID to perform position control in the presence of Stribeck friction is believed to provoke the system trapped in limit cycle oscillation. This research aims to investigates the formulation of PID that will stabilize the position control of DC motor in the presence of Stribeck friction. In order to diminish the limit cycle oscillation, the PID gain is set to meet global asymptotic stability in Lyapunov sense as Kalman conjecture is fully applied. The analysis shows that the stability of the system depends on the friction properties near Stribeck velocity. Furthermore, the proposed PID formulation is found to be easy to be applied as the maximum integrator gain applied to the system is directly proportional to the given proportional gain.