Furuta's Pendulum: A Conservative Nonlinear Model for Theory and Practise

Table 2

Parameters of the LuGre model identified.

Experiment	Parameter	(+)	($-$)
Step 1	${𝒥}_a$	0.0003	0.0004
	${\tau }_c/K$	0.2238	0.2308
	${\sigma }_2$	0.0022	0.0020
Step 2	${\tau }_s/K$	0.3960	0.3789
Step 3	$v_s$	0.9297	0.9725
Step 4	${\sigma }_0$	30
	${\sigma }_1$	0.2389