[ASME ASME 2017 Dynamic Systems and Control Conference - Tysons, Virginia, USA (Wednesday 11 October 2017)] Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications - Identification and Compensation of Cogging and Friction Forces in Tubular Permanent Magnet Linear Motors