Si-Lu Chen 0001Kok Kiong TanSunan Huang 0001Chek Sing TeoTong Heng LeeConcurrent Friction and Ripple Modeling for Servomechanisms Using a Hysteretic Relay.173-1782009SyRoCohttps://doi.org/10.3182/20090909-4-JP-2010.00031conf/syroco/2009db/conf/syroco/syroco2009.html#ChenTHTL09