Port-Hamiltonian formulation and analysis of the LuGre friction model. - Johan Koopman; Dimitri Jeltsema; Michel Verhaegen (CDC, 2008)

Wheel slip control using energy shaping. - Johan Koopman; Dimitri Jeltsema; Michel Verhaegen (CDC, 2010)

Port-Hamiltonian description and analysis of the LuGre friction model. - Johan Koopman; Dimitri Jeltsema; Michel Verhaegen (Simul. Model. Pract. Theory, 2011)