'Flexible manipulators - an overview' (Control, Robotics and Sensors, 2017), 'Flexible Robot Manipulators: Modelling, Simulation and Control', 2nd ed., Chap. 1, pp. 1-22, DOI: 10.1049/PBCE086E_ch1 IET Digital Library, https://digital-library.theiet.org/;jsessionid=5p8uao040gqqh.x-iet-live-01content/books/10.1049/pbce086e_ch1