Sun Lim and  Il-Kyun Jung,  The Decentralized Nonlinear Controller of Robot Manipulator with External Load Compensation.   journal   = {International Journal of Mechanical and Mechatronics Engineering}, [online]. World Academy of Science, Engineering and Technology.
    April 2010, vol. 40(4). 354 - 357
    [viewed 24 January 2021]. Available from: https://publications.waset.org/pdf/13100.