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A Novel Newton–Euler Method-Based Nonlinear Anti-Swing Cont..:

Luo, Yanhong ; Yu, Hang ; Zhang, Huaguang.
IEEE Transactions on Systems, Man, and Cybernetics: Systems.  54 (2024)  4 - p. 2266-2275 , 2024
Link: https://doi.org/10.1109/tsmc.2023.3342027