'Rapid control prototyping and hardware-in-the-loop simulation' (Control, Robotics and Sensors, 2017), 'Control of Mechatronic Systems', Chap. appendixa, pp. 193-194, DOI: 10.1049/PBCE104E_appendixa
IET Digital Library, https://digital-library.theiet.org/;jsessionid=ahr3ain53ga7q.x-iet-live-01content/books/10.1049/pbce104e_appendixa