Friction-induced vibration and instability are complicated phenomena that have been studied in detail by many researchers [1-3].These researches have indentified three major mechanisms of friction-induced vibration.The most common form of friction-induced instability is attributed to the velocity-weakening characteristics of friction force, which is also known as the Stribeck effect.Other widely studied mechanisms are mode-coupling and sprag-slip instabilities.Brake squeal is a noise problem caused by vibrations induced by friction force.During the braking operation, friction between the pad and the disc can induce a dynamic instability in the system, which leads to self-excited vibrations and limit cycles occur as a result.