'Multi-objective particle swarm optimisation control' (Control, Robotics and Sensors, 2017), 'Flexible Robot Manipulators: Modelling, Simulation and Control', 2nd ed., Chap. 13, pp. 379-402, DOI: 10.1049/PBCE086E_ch13 IET Digital Library, https://digital-library.theiet.org/;jsessionid=3ijnckc4ja9wk.x-iet-live-01content/books/10.1049/pbce086e_ch13