Zhiyong Wang, Fathi H. Ghorbel, James B. Dabney. On the domain and error characterization in the singular perturbation modeling of closed kinematic chains. In Proceedings of the 2004 American Control Conference, ACC 2004, Boston, MA, USA, June 30 - July 2, 2004. pages 493-498, IEEE, 2004. [doi]
Abstract is missing.