Auto-tuning of feedforward friction compensation based on the gradient method. - Friedhelm Altpeter; Markus Grunenberg; Piotr Myszkorowski; Roland Longchamp (ACC, 2000)

Single state elastoplastic friction models. - Pierre E. Dupont; Vincent Hayward; Brian Armstrong 001; Friedhelm Altpeter (IEEE Trans. Autom. Control., 2002)

Discrete-Time Elasto-Plastic Friction Estimation. - Vincent Hayward; Brian Armstrong 001; Friedhelm Altpeter; Pierre E. Dupont (IEEE Trans. Control. Syst. Technol., 2009)