Brian Armstrong, Bimal Amin. PID control in the presence of static friction: A comparison of algebraic and describing function analysis. Automatica, 32(5):679-692, 1996. [doi]
@article{ArmstrongA96,
title = {PID control in the presence of static friction: A comparison of algebraic and describing function analysis},
author = {Brian Armstrong and Bimal Amin},
year = {1996},
doi = {10.1016/0005-1098(95)00199-9},
url = {http://dx.doi.org/10.1016/0005-1098(95)00199-9},
researchr = {https://researchr.org/publication/ArmstrongA96},
cites = {0},
citedby = {0},
journal = {Automatica},
volume = {32},
number = {5},
pages = {679-692},
}