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Servo design of a vertical axis drive using dual linear mot..:

Hsieh, Min-Fu ; Tung, Chin-Juei ; Yao, Wu-Sung..
International Journal of Machine Tools and Manufacture.  47 (2007)  3-4 - p. 546-554 , 2007
Link: https://doi.org/10.1016/j.ijmachtools.2006.05.011