Francisco J. Lopez-Jaquez and  Sandra E. Ramirez-Jara,  Distributed Motion Control Real-Time Contouring Algorithm Implementation and Performance Test .   journal   = {International Journal of Computer and Information Engineering}, [online]. World Academy of Science, Engineering and Technology.
    October 2013, vol. 81(9). 1219 - 1224
    [viewed 13 April 2021]. Available from: https://publications.waset.org/pdf/16861.