H model matching two degree of freedom control with adaptive torque ripple cancellation for high performance direct drive systems
Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, Vol. 221, No. 3, Ocak 2007, s. 407-421, ISSN: 0959-6518
BOGOSYAN SETA,GÖREN AFİFE LEYLA,GÖKAŞAN METİN