@article{Verbert2016AdaptiveFrictionCompensation,
author={K.A.J. Verbert and R. T\'oth and R. Babu\v{s}ka},
title={Adaptive Friction Compensation: A Globally Stable Approach},
journal={IEEE/ASME Transactions on Mechatronics},
volume={21},
number={1},
year = 2016,
pages={351--363}
}