'Finite element modelling' (Control, Robotics and Sensors, 2017), 'Flexible Robot Manipulators: Modelling, Simulation and Control', 2nd ed., Chap. 5, pp. 115-141, DOI: 10.1049/PBCE086E_ch5
IET Digital Library, https://digital-library.theiet.org/;jsessionid=b65lr174r0a1.x-iet-live-01content/books/10.1049/pbce086e_ch5