Control of a flexible-joint robot using a stable adaptive introspective CMAC. - C. J. B. Macnab; M. Razmi (SMC, 2017)

Near-optimal neural-network robot control with adaptive gravity compensation. - M. Razmi; C. J. B. Macnab (Neurocomputing, 2020)

Stability for feedback loops containing complex algorithms. - M. Razmi; C. J. B. Macnab (Soft Comput., 2020)