WASET
    Sana Bembli and  Nahla Khraief Haddad and  Safya Belghith,  Model Free Terminal Sliding Mode with Gravity Compensation: Application to an Exoskeleton-Upper Limb System.   journal   = {International Journal of Mechanical and Mechatronics Engineering}, [online]. World Academy of Science, Engineering and Technology.
    August 2020, vol. 165(9). 451 - 457
    [viewed 27 April 2024]. Available from: https://publications.waset.org/pdf/10011455.