Output Robot Control: Stablewise Tracking With A Requested Reachability Time. - Ljubomir T. Grujic; Zoran R. Novakovic (IROS, 1988)

Solving the inverse kinematics problem via the principle of self-support. - Zoran R. Novakovic (J. Field Robotics, 1990)

A solution of the inverse kinematics problem using the sliding mode. - Zoran R. Novakovic; Bojan Nemec (IEEE Trans. Robotics Autom., 1990)

Robot control: Tracking with the required settling time. - Ljubomir T. Grujic; Zoran R. Novakovic (J. Intell. Robotic Syst., 1991)

An Algorithm for Robust Tracking Control of Robots. - Zoran R. Novakovic; Leon Zlajpah (Robotica, 1991)

The principle of self-support in robot control synthesis. - Zoran R. Novakovic (IEEE Trans. Syst. Man Cybern., 1991)