%0 Journal Article %A S. H. Teh and S. Malawaraarachci and W. P. Chan and A. Nassirharand %D 2010 %J International Journal of Mechanical and Mechatronics Engineering %B World Academy of Science, Engineering and Technology %I Open Science Index 38, 2010 %T Design and Instrumentation of a Benchmark Multivariable Nonlinear Control Laboratory %U https://publications.waset.org/pdf/15520 %V 38 %X 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. %P 260 - 266