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High-gain PI-like control of Euler-Lagrange mechanical systems: Simulations and experiments in 2DoF robotic manipulators

Aldo-Jonathan Muñoz-Vázquez, Vicente Parra-Vega, Anand Sánchez-Orta, Juan Diego Sánchez-Torres. High-gain PI-like control of Euler-Lagrange mechanical systems: Simulations and experiments in 2DoF robotic manipulators. J. Systems & Control Engineering, 236(4):857-869, 2022. [doi]

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