document: A friction compensator for pneumatic control valves A procedure that compensates for static friction -LRB- stiction -RRB- in pneumatic control valves is presented . The compensation is obtained by adding pulses to the control signal . The characteristics of the pulses are determined from the control action . The compensator is implemented in industrial controllers and control systems , and the industrial experiences show that the procedure reduces the control error during stick-slip motion significantly compared to standard control without stiction compensation
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