[IEEE Proceeding of the 1996 IEEE International Conference on Control Applications IEEE International Conference on Control Applications held together with IEEE International Symposium on Intelligent Control IEEE International Symposium on Computer-Aided Control System Design - Dearborn, MI, USA (15-18 Sept. 1996)] Proceeding of the 1996 IEEE International Conference on Control Applications IEEE International Conference on Control Applications held together with IEEE International Symposium on Intelligent Control IEEE International Symposium on Computer-Aided Contro - Fuzzy-logic controller synthesis for electro-mechanical systems with nonlinear friction