Vibrational Smoothing in Systems with Dynamic Friction

n this paper we revisited the effect of dither signal in servo-drives with dynamic friction. In opposition to existing results based in memoryless friction models, the average effect of friction can be qualified in terms of amplitude and frequency of the dither signal. This results is obtained by a new proposed modification of singular perturbation theory that allow us to handle a special class of nonlinear systems which are not differentiable anywhere and does not satisfy the Tikhonov's condition. Experimental results showing the stick-slip extinction are also presented.