Integrator backstepping control of a 5 DoF robot manipulator incorporating actuator dynamics. - A. Lotfazar; Mohammad Eghtesad; M. Mohseni (CCA, 2003)

Application and Comparison of passivity-Based and integrator backstepping Control Methods for trajectory Tracking of Rigid-Link robot manipulators Incorporating Motor Dynamics. - A. Lotfazar; Mohammad Eghtesad (Int. J. Robotics Autom., 2007)