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New Sliding Mode Control of 2-DOF Robot Manipulator Based o..:

Rahmani, Mehran ; Komijani, Hossein ; Rahman, Mohammad Habibur
International Journal of Control, Automation and Systems.  18 (2020)  6 - p. 1572-1580 , 2020
Link: https://doi.org/10.1007/s12555-019-0154-x