@article{(Open Science Index):https://publications.waset.org/pdf/15520, title = {Design and Instrumentation of a Benchmark Multivariable Nonlinear Control Laboratory}, author = {S. H. Teh and S. Malawaraarachci and W. P. Chan and A. Nassirharand}, country = {}, institution = {}, abstract = {The purpose of this paper is to present the design and instrumentation of a new benchmark multivariable nonlinear control laboratory. The mathematical model of this system may be used to test the applicability and performance of various nonlinear control procedures. The system is a two degree-of-freedom robotic arm with soft and hard (discontinuous) nonlinear terms. Two novel mechanisms are designed to allow the implementation of adjustable Coulomb friction and backlash.}, journal = {International Journal of Mechanical and Mechatronics Engineering}, volume = {4}, number = {2}, year = {2010}, pages = {260 - 266}, ee = {https://publications.waset.org/pdf/15520}, url = {https://publications.waset.org/vol/38}, bibsource = {https://publications.waset.org/}, issn = {eISSN: 1307-6892}, publisher = {World Academy of Science, Engineering and Technology}, index = {Open Science Index 38, 2010}, }