On Simplified Models of Position Servo Actuators for control purposes. - Rafael Kelly; Gabriela Zepeda; Carmen Monroy (ICCAD, 2021)

A Globally Smooth Adaptive Tracking Controller for a Velocity Servo Actuator Model. - Rafael Kelly; Gabriela Zepeda; Carmen Monroy (ICCAD, 2024)

Global joint position regulation of a class of torque-driven robot manipulators within actuators prescribed safe operating torque-speed area. - Rafael Kelly; Adriana Salinas; Diana V. Cajero; Gabriela Zepeda (Int. J. Control, 2025)