External model-based disturbance rejection in tracking control of Euler-Lagrange systems. - Garo Zarikian; Andrea Serrani (ACC, 2005)

Harmonic Disturbance Rejection in Tracking Control of Euler-Lagrange Systems: An External Model Approach. - Garo Zarikian; Andrea Serrani (IEEE Trans. Control. Syst. Technol., 2007)