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However, this comes at the cost of an increased complexity, presenting in some cases switched dynamics, as in the generalized Maxwell-slip friction model. Thus, consideration of these models in control design certainly increases the complexity of stability proofs, and thus, their use in control design except for feedforward compensation. The purpose of this work is to provide stability results to facilitate the application of these models in feedback control. First, results are given for a more general model with switched dynamics, and then results are given for the particular case of the generalized Maxwell-slip model. Then, the application of these developments is illustrated for the case of a deterministic robust control design for a linear motor drive. In this case, controllers with feedforward and feedback friction compensation are implemented in an experimental setup, showing the improvement in performance that can be achieved using the latter.<\/jats:p>","DOI":"10.1177\/09596518221141965","type":"journal-article","created":{"date-parts":[[2022,12,29]],"date-time":"2022-12-29T00:30:30Z","timestamp":1672273830000},"page":"1111-1125","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Application of switched-dynamics friction models in feedback control"],"prefix":"10.1177","volume":"237","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7980-0638","authenticated-orcid":false,"given":"Fernando J","family":"Villegas","sequence":"first","affiliation":[{"name":"Facultad de Ingenier\u00eda, UNLPam-CONICET, General Pico, Argentina"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rogelio L","family":"Hecker","sequence":"additional","affiliation":[{"name":"Facultad de Ingenier\u00eda, UNLPam-CONICET, General Pico, Argentina"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Miguel E","family":"Pe\u00f1a","sequence":"additional","affiliation":[{"name":"Instituto de Autom\u00e1tica, UNSJ, San Juan, Argentina"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2022,12,28]]},"reference":[{"key":"bibr1-09596518221141965","doi-asserted-by":"publisher","DOI":"10.1155\/2015\/269391"},{"key":"bibr2-09596518221141965","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2021.104691"},{"key":"bibr3-09596518221141965","first-page":"1178","volume-title":"2022 8th international conference on control, decision and information technologies (CoDIT)","volume":"1","author":"Yan L"},{"key":"bibr4-09596518221141965","volume-title":"Experimental study of pre-rolling friction for motion-reversal error compensation on machine tool drive systems","author":"Prajogo T.","year":"1999"},{"key":"bibr5-09596518221141965","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.2008.929425"},{"key":"bibr6-09596518221141965","doi-asserted-by":"publisher","DOI":"10.1155\/2022\/3690915"},{"key":"bibr7-09596518221141965","first-page":"1121","volume-title":"Proceeding of the American control conference","author":"Lampaert V"},{"key":"bibr8-09596518221141965","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2020.104629"},{"key":"bibr9-09596518221141965","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2000.876665"},{"key":"bibr10-09596518221141965","volume-title":"Modelling and control of dry sliding friction in mechanical systems","author":"Lampaert V.","year":"2003"},{"key":"bibr11-09596518221141965","doi-asserted-by":"publisher","DOI":"10.1109\/9.847103"},{"key":"bibr12-09596518221141965","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2005.858676"},{"key":"bibr13-09596518221141965","doi-asserted-by":"publisher","DOI":"10.1504\/IJMRS.2018.096292"},{"key":"bibr14-09596518221141965","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(03)00234-6"},{"key":"bibr15-09596518221141965","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2020.04.010"},{"key":"bibr16-09596518221141965","first-page":"6271","volume-title":"Proceedings of the 45th IEEE conference on decision & control","author":"Nilkhamhang I"},{"key":"bibr17-09596518221141965","doi-asserted-by":"crossref","unstructured":"Grami S, Gharbia Y. 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