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An analysis of stick-slip behavior and convergence of trajectories in thefeedback-controlled motion systems with discontinuous Coulomb friction isprovided. A closed-form parameter-dependent stiction region, around aninvariant equilibrium set, is proved to be always reachable and globallyattractive. It is shown that only asymptotic convergence can be achieved, withat least one but mostly an infinite number of consecutive stick-slip cycles,independent of the initial conditions. Theoretical developments are supportedby a number of numerical results with dedicated convergence examples.

Stick-slip and convergence of feedback-controlled systems with Coulomb friction