'Linear parametric modelling' (Control, Robotics and Sensors, 2017), 'Flexible Robot Manipulators: Modelling, Simulation and Control', 2nd ed., Chap. 6, pp. 143-172, DOI: 10.1049/PBCE086E_ch6
IET Digital Library, https://digital-library.theiet.org/;jsessionid=44rjupt2kdchu.x-iet-live-01content/books/10.1049/pbce086e_ch6