Regulation of the PPR mobile robot with a flexible joint: a combined passivity and flatness approach. - Gerardo Espinosa-Pérez; Hebertt Sira-Ramírez; M. Rios-Bolivar (CDC, 2000)

Adaptive passivation of a class of uncertain nonlinear systems. - M. Rios-Bolivar; V. Acosta-Contreras; Haira Sira-Ramfrez (CDC, 2000)