TY - JFULL AU - S. H. Teh and S. Malawaraarachci and W. P. Chan and A. Nassirharand PY - 2010/3/ TI - Design and Instrumentation of a Benchmark Multivariable Nonlinear Control Laboratory T2 - International Journal of Mechanical and Mechatronics Engineering SP - 259 EP - 266 VL - 4 SN - 1307-6892 UR - https://publications.waset.org/pdf/15520 PU - World Academy of Science, Engineering and Technology NX - Open Science Index 38, 2010 N2 - 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. ER -