Publications by Johan Koopman 2011 -- Johan Koopman, Dimitri Jeltsema, Michel VerhaegenPort-Hamiltonian description and analysis of the LuGre friction model 2010 -- Johan Koopman, Dimitri Jeltsema, Michel VerhaegenWheel slip control using energy shaping 2008 -- Johan Koopman, Dimitri Jeltsema, Michel VerhaegenPort-Hamiltonian formulation and analysis of the LuGre friction model