M. I. Ullah, S. A. Ajwad, M. Irfan, and J. Iqbal, “Non-linear Control Law for Articulated Serial Manipulators: Simulation Augmented with Hardware Implementation”, ELEKTRON ELEKTROTECH, vol. 22, no. 1, pp. 3–7, Feb. 2016, doi: 10.5755/j01.eee.22.1.14094.