%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