Zum Entwurf nichtlinearer zeitdiskreter Beobachter mittels affiner Approximationen. - Norbert Scherm (VDI-Verlag, 1999)

Dynamics and control of underactuated manipulation systems: A discrete-time approach. - Norbert Scherm; Bodo Heimann (Robotics Auton. Syst., 2000)

Nonlinear Discrete-Time Control Approaches for Underactuated Manipulators. - Dirk Weidemann; Norbert Scherm; Bodo Heimann; Houssem Abdellatif (CDC/ECC, 2005)

Bahnplanung und Regelung unteraktuierter Manipulatoren mittels nichtlinearer zeitdiskreter Ansätze (Path-planning and Control of Underactuated Manipulators by Nonlinear Discrete-time Approaches). - Dirk Weidemann; Norbert Scherm; Bodo Heimann (Autom., 2010)