On the use of a multivariable frequency response estimation method for closed loop identification. - Erik Wernholt; Svante Gunnarsson (CDC, 2004)

Nonlinear Grey-box Identification of Linear Actuators Containing Hysteresis. - Johan Gunnar; Erik Wernholt; Geir Hovland; Torgny Brogardh (ICRA, 2006)

Analysis of methods for multivariable frequency response function estimation in closed loop. - Erik Wernholt; Svante Gunnarsson (CDC, 2007)

Experiment design for identification of nonlinear gray-box models with application to industrial robots. - Erik Wernholt; Johan Löfberg (CDC, 2007)

Multivariable Frequency-Domain Identification of Industrial Robots. - Erik Wernholt (2007)

Estimation of Nonlinear Effects in Frequency Domain Identification of Industrial Robots. - Erik Wernholt; Svante Gunnarsson (IEEE Trans. Instrum. Meas., 2008)

Experimental comparison of observers for tool position estimation of industrial robots. - Robert Henriksson; Mikael Norrlöf; Stig Moberg; Erik Wernholt; Thomas B. Schön (CDC, 2009)

An extended friction model to capture load and temperature effects in robot joints. - André Carvalho Bittencourt; Erik Wernholt; Shiva Sander-Tavallaey; Torgny Brogårdh (IROS, 2010)

Nonlinear gray-box identification using local models applied to industrial robots. - Erik Wernholt; Stig Moberg (Autom., 2011)