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A control algorithm for a centrifuge motion simulator:

Kvrgic, Vladimir M. ; Vidakovic, Jelena Z. ; Lutovac, Maja M...
Robotics and Computer-Integrated Manufacturing.  30 (2014)  4 - p. 399-412 , 2014
Link: https://doi.org/10.1016/j.rcim.2014.01.002