@article{MataBrogliato.2003,
  author	= {Mata-Jimenez, M. and Brogliato, B.},
  title		= {Analysis of {PD} and nonlinear control of mechanical systems with dynamic backlash},
  journal	= {Journal of Vibrations and Control},
  year		= {2003},
  volume	= {9},
  number	= {1},
  pages		= {119--156},
}