Figure 4From: Pre-compensation of Friction for CNC Machine Tools through Constructing a Nonlinear Model Predictive SchemeAn illustrative example of the compensation signal: (a) The velocity of the reference trajectory, (b) The original view and (c) the locally enlarged view of the compensation signals with and without constraining of \(\Delta u_\text{c}\) \((\Delta u_\text{c}(k)=u_\text{c}(k+1)-u_\text{c}(k))\)Back to article page