A practical PID controller with bounded torques for robot manipulators

Authors: Javier Moreno-Valenzuela, Karla Camarillo, Ricardo Campа, Victor Santibáñez

Research in Computing Science, Vol. 36, pp. 285-296, 2008.

PDF: A practical PID controller with bounded torques for robot manipulators
PDF: A practical PID controller with bounded torques for robot manipulators