@Article{SCC.Alvarez-Ramirez.Kelly.ea2003,
  author    = {Alvarez-Ramirez, Jose and Kelly, Rafael and Cervantes, Ilse},
  title     = {Semiglobal stability of saturated linear {PID} control for robot manipulators},
  journal   = {Automatica},
  year      = {2003},
  volume    = {39},
  number    = {6},
  pages     = {989--995},
  owner     = {Nic},
  timestamp = {2011.02.01},
}

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