A general dynamic model for a large-scale 2-DOF planar parallel manipulator. - Khaled R. Atia; Matthew P. Cartmell (Robotica, 1999)

A New Methodology for Designing PD Controllers. - Khaled R. Atia; Matthew P. Cartmell (Robotica, 2001)

A new variable structure controller for robot manipulators with a nonlinear PID sliding surface. - Khaled R. Atia (Robotica, 2013)