'Hybrid iterative learning control' (Control, Robotics and Sensors, 2017), 'Flexible Robot Manipulators: Modelling, Simulation and Control', 2nd ed., Chap. 10, pp. 293-320, DOI: 10.1049/PBCE086E_ch10
IET Digital Library, https://digital-library.theiet.org/;jsessionid=grksj2pr5h3b3.x-iet-live-01content/books/10.1049/pbce086e_ch10