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Stewart platforms are complex mechanical devices used throughout industry for vibration testing and precision pointing applications. These platforms are nonlinear, strongly coupled MIMO systems. For a six-degree-of-freedom Stewart platform, we consider the problem of three-degree-of-freedom angular-velocity command following. Static nonlinearity inherent in the platform is analyzed, and a closed-loop setup for adaptive command-following control is described. A review of thedoi:10.1109/acc.2008.4587248 dblp:conf/amcc/PenceSB08 fatcat:bwrvbf3fwfe77fg2vjoe54t5xu