'Collocated and non-collocated control' (Control, Robotics and Sensors, 2017), 'Flexible Robot Manipulators: Modelling, Simulation and Control', 2nd ed., Chap. 9, pp. 261-292, DOI: 10.1049/PBCE086E_ch9
IET Digital Library, https://digital-library.theiet.org/;jsessionid=1gjviqav75f8o.x-iet-live-01content/books/10.1049/pbce086e_ch9