The purpose of this paper is to investigate the effect of friction on two wheels vehicle control. First, the two wheels vehicle model is presented. Then, the dynamic analysis are performed by studying the dynamic of inverted pendulum. The PID control is used as the control method to control motor for balancing two wheels vehicle. Furthermore, the numerical modeling is created and the friction is given on joint with varying the coefficient of friction in numerical simulation. Moreover, the optimize PID value is presented and then the numerical simulation is performed.

Tribology applied method (TAM) is a method to investigate the interacting surface in relative motion includes the principles of friction, lubrication, and wear. The main objective of this study is to investigate the effect of structural material property on Multi-body dynamic. The stick-slip friction (SSF) and the contact normal force is used as influence of machine tools in numerical simulation. The numerical simulation is conducted on three axes CNC machine without friction, with sliding friction and with SFF to find out the effect of the influence parameter. The PID controller is used as the compensation in the numerical simulation. The result show that the unsmooth motion of CNC machine due the friction will affect the accuracy and the performance of the CNC machine.

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