  An analysis of stick-slip behavior and convergence of trajectories in the
feedback-controlled motion systems with discontinuous Coulomb friction is
provided. A closed-form parameter-dependent stiction region, around an
invariant equilibrium set, is proved to be always reachable and globally
attractive. It is shown that only asymptotic convergence can be achieved, with
at least one but mostly an infinite number of consecutive stick-slip cycles,
independent of the initial conditions. Theoretical developments are supported
by a number of numerical results with dedicated convergence examples.
