Tatjewski, Piotr. “Effective Nonlinear Predictive and CTC-PID Control of Rigid Manipulators”. Journal of Automation, Mobile Robotics and Intelligent Systems 18, no. 2 (May 6, 2025): 1–16. Accessed July 17, 2025. https://jamris.d.tomp.pl/index.php/JAMRIS/article/view/1133.