@inproceedings{MobergetalM:08,
    author = "Moberg, Stig and {\"{O}}hr, Jonas and Gunnarsson, Svante",
    title = "A Benchmark Problem for Robust Control of a Multivariable
Nonlinear Flexible Manipulator",
    year = "2008",
    month = jul,
    address = "Seoul, Korea",
    booktitle = "Proc. 17th {IFAC} World Congress",
    pages="1206--1211",
    url = "http://www.control.isy.liu.se/publications/doc?id=2042",
}