'Repetitive control' (Control, Robotics and Sensors, 2017), 'Control of Mechatronic Systems', Chap. 6, pp. 151-189, DOI: 10.1049/PBCE104E_ch6
IET Digital Library, https://digital-library.theiet.org/;jsessionid=176l80vhwwkuq.x-iet-live-01content/books/10.1049/pbce104e_ch6