Motor-based control of manipulators with flexible joints and links. - King Yuan; Lih-Chang Lin (ICRA, 1990)

Control of flexible joint robots via external linearization approach. - Lih-Chang Lin; King Yuan (J. Field Robotics, 1990)

Noncollocated passivity-based PD control of a single-link flexible manipulator. - Liang-Yih Liu; King Yuan (Robotica, 2003)