@article {jeon2008stability,
	title = {Stability of controlled mechanical systems with ideal coulomb friction},
	journal = {Journal of Dynamic Systems, Measurement, and Control},
	volume = {130},
	number = {1},
	year = {2008},
	pages = {011013},
	publisher = {American Society of Mechanical Engineers},
	author = {Jeon, Soo and Tomizuka, Masayoshi}
}
