See demo3.m
A friction compensator has been implemented as in section V.B of the paper.

There is a new m-file: demo2.m, where now I use MATLAB built-in solver. Thus, the simulation becomes faster. Please see problem_formalization.pdf to understand the formalization of the problem such that it can be put into MATLAB built-in solver.

problem_formalization.pdf

The integration method that we use to compute the motion of the simulated mass is a simple Euler. Since the system is very stiff, we need a very high sampling rate. Next release, we have to reformulate the system in a formal form that MATLAB can understand and use the built-in ode solvers provided by MATLAB.