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Adaptive backstepping control design for ball and beam syst..:

Al-Dujaili, Ayad Q. ; Humaidi, Amjad J. ; Pereira, Daniel Augusto.
International Review of Applied Sciences and Engineering.  12 (2021)  3 - p. 211-221 , 2021
Link: https://doi.org/10.1556/1848.2021.00193