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Model predictive force control of hardware implementation f..:

Essa, Mohamed El-Sayed M. ; Aboelela, Magdy AS ; Moustafa Hassan, MA.
Transactions of the Institute of Measurement and Control.  41 (2018)  5 - p. 1435-1446 , 2018
Link: https://doi.org/10.1177/0142331218784118