'Architecture consolidation' (Control, Robotics and Sensors, 2014), 'Design and Development of Multi-Lane Smart Electromechanical Actuators', Chap. 5, pp. 55-69, DOI: 10.1049/PBCE093E_ch5
IET Digital Library, https://digital-library.theiet.org/;jsessionid=s9maocgl53e3.x-iet-live-01content/books/10.1049/pbce093e_ch5