Method for standstill control of a multi-body system

A control system for standstill control of a MKS having at least one drive body and a friction body mechanically coupled to the drive body, the control system comprising:

• a control unit on which a velocity controller is implemented, the velocity controller being designed to determine, from a specified target velocity vtarget=0 and from an actual velocity of the MKS, a control variable for adjusting the actual velocity to the target velocity;
• an actuator designed to convert the control variable into a drive force acting on the drive body, wherein a static friction acts on the friction body;
• a velocity determination unit designed to determine a velocity of one of the at least one drive body or the at least one friction body as a measurement velocity subject to a measurement noise and to feed the determined measurement velocity to a dead zone element designed to convert the measurement velocity into a dead zone velocity,
• wherein the dead zone velocity:
• assumes a value of zero for values of the measurement velocity above a value of zero and below a positive dead zone limit, or
• assumes the value of the measurement velocity for values of the measurement velocity above the positive dead zone limit,
• wherein the positive dead zone limit is selected to be greater than a specified maximum value of the measurement noise of the measurement velocity, and
• wherein the dead zone element is designed to feed the dead zone velocity to the velocity controller as the actual velocity for controlling.