'Introduction' (Control, Robotics and Sensors, 2017), 'Control of Mechatronic Systems', Chap. 1, pp. 1-7, DOI: 10.1049/PBCE104E_ch1
IET Digital Library, https://digital-library.theiet.org/;jsessionid=1oaza1bff07qy.x-iet-live-01content/books/10.1049/pbce104e_ch1