@article {IOPORT.00436523,
    author       = {Mahmoud, Magdi S.},
    title        = {Robust control of robot arms including motor dynamics.},
    year         = {1993},
    journal      = {International Journal of Control},
    volume       = {58},
    number       = {4},
    issn         = {0020-7179},
    pages        = {853-873},
    publisher    = {Taylor \& Francis, London},
    doi          = {10.1080/00207179308923032},
    abstract     = {Summary: A state model that incorporates robot arm dynamics together with joint actuator dynamics is formulated as a nominally linear uncertain system. The uncertainty is matched and it is shown to be bounded by a cubic expression of the norm of the joint errors. A nonlinear robust feedback controller is then derived which guarantees global ultimate boundedness of the actual system trajectories. Computer simulations are performed on a model of the PUMA 560 robot arm and the results have verified the feasibility of our controller with excellent trajectory tracking performance.},
    identifier   = {00436523},
}