VSS Control of Robotic Manipulators by Joint Acceleration Controller. - Karel Jezernik; Boris Curk; Joze Harnik; Asif Sabanovic (Robotics, Mechatronics and Manufacturing Systems, 1993)

Observer-based sliding mode control of a robotic manipulator. - Karel Jezernik; Boris Curk; Joze Harnik (Robotica, 1994)