'Design of a flexible manipulator experimental system' (Control, Robotics and Sensors, 2017), 'Flexible Robot Manipulators: Modelling, Simulation and Control', 2nd ed., Chap. 2, pp. 23-54, DOI: 10.1049/PBCE086E_ch2
IET Digital Library, https://digital-library.theiet.org/;jsessionid=6sehkvr3gimpu.x-iet-live-01content/books/10.1049/pbce086e_ch2