1. Craig, J. Introduction to robotics: mechanics and control. Reading, MA: Addison-Wesley Publishing Company, Inc., 1989. p. 450.
2. Sciavicco L, Siciliano B. Modeling and control of robot manipulation. New York: McGraw-Hill Companies, Inc., 1996. p. 358.
3. An CH, Atkeson CG, Hollerbach JM. Model-based control or robot manipulator. Cambridge: MIT Press, 1996. p. 233.
4. An experimental comparison of robust control algorithms on a direct drive manipulator;Jaritz;IEEE Trans Control Systems Technol,1996
5. LQ design of PID controllers for robot arms;Luo;IEEE Trans Robot Automat,1985