Global tracking for robot manipulators using a simple causal PD controller plus feedforward

@article{Nunes2010GlobalTF,
  title={Global tracking for robot manipulators using a simple causal PD controller plus feedforward},
  author={Eduardo V. L. Nunes and Liu Hsu},
  journal={Robotica},
  year={2010},
  volume={28},
  pages={23-34}
}
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