1. Les Robots, chapter no. 3;Andre,1983
2. Control of a Direct-Drive Arm;Asada;Journ. of Dynamic Systems, Measurement, and Control,1983
3. Introduction to Robotics;Craig,1989
4. Fixed Gain PID Class Servo for Industrial Robots;Irzenski;Archives of Control Science,1992
5. Modelling and Control of Robots;Kozłowski,2003