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Positively Invariant Sets in Sliding Mode Control Theory with Application to Servo Actuator System with Friction*

IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING, 2010, Volume 10, Issue 1, Pages 121-134

Robust Controller Design for Flexible Joint Based on Back-Stepping Approach

IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING, 2020, Volume 20, Issue 2, Pages 58-73

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