Robust adaptive controller design and stability analysis for flexible-joint manipulators. - Raad A. Al-Ashoor; Rajnikant V. Patel; Khashayar Khorasani (IEEE Trans. Syst. Man Cybern., 1993)

A decentralized indirect adaptive control for a class of two-time-scale nonlinear systems with application to flexible-joint manipulators. - Raad A. Al-Ashoor; Khashayar Khorasani (IEEE Trans. Ind. Electron., 1999)