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Cited article:

Adaptive LuGre Friction Compensation for Servo System Based on Backstepping Control and Feedforward Control

Qixin Zhu, Jiaqi Wang and Yonghong Zhu
Recent Advances in Electrical & Electronic Engineering (Formerly Recent Patents on Electrical & Electronic Engineering) 15 (8) 653 (2022)
https://doi.org/10.2174/2352096515666220422103218