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The feedback system is analyzed for stability using both state-space Lyapunov techniques and frequency domain describing functions. Experimental and simulation results indicate the possibility of both stable and unstable limit cycles, depending on system parameters. The choice of state variables leads to a way of explaining the observed sticking action of the servo due to deadzone friction.<\/jats:p>","DOI":"10.1177\/0037549715603795","type":"journal-article","created":{"date-parts":[[2015,9,29]],"date-time":"2015-09-29T22:44:05Z","timestamp":1443566645000},"page":"888-897","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":2,"title":["Stability characteristics of a nonlinear direct current servo with proportional, integral, derivative controller: comparison with simulation and experimentation"],"prefix":"10.1177","volume":"91","author":[{"given":"Richard","family":"Bednar","sequence":"first","affiliation":[{"name":"Electrical and Computer Engineering Department, California State University at Chico, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2015,9,29]]},"reference":[{"key":"bibr1-0037549715603795","volume-title":"Automatic tuning of PID controllers","author":"Astrom KJ","year":"1988"},{"key":"bibr2-0037549715603795","volume-title":"Simulation and implementation of self-tuning controllers","author":"Roffel B","year":"1989"},{"key":"bibr3-0037549715603795","doi-asserted-by":"publisher","DOI":"10.1115\/1.2899252"},{"key":"bibr4-0037549715603795","doi-asserted-by":"publisher","DOI":"10.1115\/1.2899250"},{"key":"bibr5-0037549715603795","doi-asserted-by":"publisher","DOI":"10.1109\/87.595926"},{"issue":"3","key":"bibr6-0037549715603795","first-page":"102","volume":"34","author":"Gerry JP","year":"1987","journal-title":"Contr Eng"},{"key":"bibr7-0037549715603795","doi-asserted-by":"publisher","DOI":"10.1109\/87.338660"},{"key":"bibr8-0037549715603795","volume-title":"2012 international conference on industrial control and electronics engineering","author":"Zhang XM","year":"2012"},{"key":"bibr9-0037549715603795","doi-asserted-by":"publisher","DOI":"10.1109\/37.466262"},{"key":"bibr10-0037549715603795","volume-title":"2007 IEEE international conference on control and automation","author":"Wang J"},{"key":"bibr11-0037549715603795","unstructured":"National Semiconductor. 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