@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},