'Software environment for modelling and control of flexible manipulators' (Control, Robotics and Sensors, 2017), 'Flexible Robot Manipulators: Modelling, Simulation and Control', 2nd ed., Chap. 15, pp. 439-471, DOI: 10.1049/PBCE086E_ch15
IET Digital Library, https://digital-library.theiet.org/;jsessionid=1f93sdoofioq3.x-iet-live-01content/books/10.1049/pbce086e_ch15