Nonlinear friction estimation for digital control of direct-drive manipulators. - Basilio Bona; Marina Indri; Nicola Smaldone (ECC, 2003)

Architectures for Rapid Prototyping of Model-Based Robot Controllers. - Basilio Bona; Marina Indri; Nicola Smaldone (Advances in Control of Articulated and Mobile Robots, 2004)