ABSTRACT
These models are considered before the general models because they are more articulate and introduce important concepts clearly. Quite a few control engineers in academia specialise in friction, and there are concrete applications of friction models to the positioning of telescopes (Nurre, 1974; Rivetta and Hansen, 1998), robots (Swevers et al., 2000), precise machining (Dupont et al., 2002), vibrations in oil drilling (Kyllingstad and Halsey, 1988), tyre-road contact (Canudas-de-Wit et al., 2003), wafer polishing in semiconductor manufacturing (Yi, 2008) and railway braking (Park et al., 2008). Several good reviews of the friction modelling in control engineering have been published (Armstrong-Hélouvry, Dupont, and Canudas-de-Wit 1994; Andersson, Söderberg, and Björklund, 2007; Armstrong and Chen, 2008; Wojewoda et al., 2008).
