A Smoothed GMS friction model suited for gradient-based friction state estimation. Boegli, M., Laet, T. D., Schutter, J. D., & Swevers, J. In American Control Conference, ACC 2012, Montreal, QC, Canada, June 27-29, 2012, pages 2627–2632, 2012.
A Smoothed GMS friction model suited for gradient-based friction state estimation [link]Paper  bibtex   
@inproceedings{DBLP:conf/amcc/BoegliLSS12,
  author    = {Max Boegli and
               Tinne De Laet and
               Joris De Schutter and
               Jan Swevers},
  title     = {A Smoothed {GMS} friction model suited for gradient-based friction
               state estimation},
  booktitle = {American Control Conference, {ACC} 2012, Montreal, QC, Canada, June
               27-29, 2012},
  pages     = {2627--2632},
  year      = {2012},
  crossref  = {DBLP:conf/amcc/2012},
  url       = {http://ieeexplore.ieee.org/document/6315360/},
  timestamp = {Sun, 30 Apr 2017 01:00:00 +0200},
  biburl    = {https://dblp.org/rec/bib/conf/amcc/BoegliLSS12},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}

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