'Finite difference modelling' (Control, Robotics and Sensors, 2017), 'Flexible Robot Manipulators: Modelling, Simulation and Control', 2nd ed., Chap. 4, pp. 79-114, DOI: 10.1049/PBCE086E_ch4
IET Digital Library, https://digital-library.theiet.org/;jsessionid=7ug13a29km5sr.x-iet-live-01content/books/10.1049/pbce086e_ch4