Friction

Implements a discontinuity at zero with linear behavior elsewhere.

1378

Inputs/Outputs

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input

Input signal.

This input accepts a double-precision, floating-point number or an array of double-precision, floating-point numbers.

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gain

Slope of the friction element.

This input accepts a double-precision, floating-point number or an array of double-precision, floating-point numbers.

Default value: 0

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offset

Offset of the friction element.

This input accepts a double-precision, floating-point number or an array of double-precision, floating-point numbers.

Default value: 0

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output

Output signal.

This output can return a double-precision, floating-point number or an array of double-precision, floating-point numbers.

Algorithm for Computing the Output Signal

The node uses the following equation to implement a discontinuity at zero with linear behavior elsewhere.

y = { 0                                                                                                                                                        if ⁢   u = 0 u * gain + offset ⁢                           if ⁢   u > 0   u * gain − offset ⁢             if ⁢   u < 0   y = { 0                                                                                                                                                        if ⁢   u = 0 u * gain + offset ⁢                           if ⁢   u > 0   u * gain − offset ⁢             if ⁢   u < 0  

where y is the output signal and u is the input signal.