Tokhi, M. O.; Azad, A. K. M.: 'Flexible Robot Manipulators: Modelling, Simulation and Control' (Control, Robotics and Sensors, 2017) DOI: 
IET Digital Library, https://digital-library.theiet.org/;jsessionid=9i5eha4iold5.x-iet-live-01content/books/ce/pbce086e