Chin, Cheng Cheng: 'Embedded Mechatronics System Design for Uncertain Environments: Linux®-based, Rasbpian®, ARDUINO® and MATLAB® xPC Target Approach' (Control, Robotics and Sensors, 2018) DOI: 
IET Digital Library, https://digital-library.theiet.org/;jsessionid=9itu3s6w8i5f.x-iet-live-01content/books/ce/pbce109e