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Koopman, J. (author), Jeltsema, D. (author), Verhaegen, M.H.G. (author)A port-Hamiltonian formulation of the LuGre friction model is presented that can be used as a building block in the physical modelling of systems with friction. Based on the dissipation structure matrix of this port-Hamiltonian LuGre model, an alternative proof can be given for the passivity conditions that are known in the literature. As a...journal article 2010