A new model for control of systems with friction. - Carlos Canudas de Wit; Henrik Olsson; Karl Johan Åström; Pablo Lischinsky (IEEE Trans. Autom. Control., 1995)

Friction Models and Friction Compensation. - Henrik Olsson; Karl Johan Åström; Carlos Canudas de Wit; Magnus Gäfvert; Pablo Lischinsky (Eur. J. Control, 1998)