Robust control of a 360° flexible arm using the combined pole placement/sensitivity function shaping method. - Ioan Doré Landau; Jochen Langer; Daniel Rey; Jean Barnier (IEEE Trans. Control. Syst. Technol., 1996)

Experimental Comparison of Nonlinear Controllers for Flexible Joint Manipulators. - Bernard Brogliato; Daniel Rey; Alessandro Pastore; Jean Barnier (Int. J. Robotics Res., 1998)