The resistance against rolling of a rigid cylinder on a flat viscous surface is investigated. We found that the rolling-friction coefficient reveals strongly non-linear dependence on the cylinder’s velocity. For low velocity the rolling-friction coefficient rises with velocity due to increasing deformation rate of the surface. For larger velocity, however, it decreases with velocity according t...

We introduce a method of observer design for systems described by a linear part with a nonlinear perturbation, where the perturbation is parameterized by a vector of unknown, constant parameters. The design is modular, and consists of a modified high-gain observer that estimates the states of the system together with the full perturbation, and a parameter estimator. The parameter estimator is c...