@article{Mobergetal:09,
    author={Moberg, Stig and {\"{O}}hr, Jonas and Gunnarsson, Svante},
    title={A Benchmark Problem for Robust Feedback Control of a Flexible Manipulator},
    journal={IEEE Transactions on Control System Technology},
    year={2009},
    volume={17},
    number={6},
    pages={1398--1405},
}