LQ design of PID controllers for robot arms. Luo, G. & Saridis, G. IEEE J. Robot. Autom., 1(3):152–159, IEEE, 1985.
bibtex   
@Article{SCC.Luo.Saridis1985,
  author    = {Luo, G. and Saridis, G.},
  title     = {{LQ design of {PID} controllers for robot arms}},
  journal   = {IEEE J. Robot. Autom.},
  year      = {1985},
  volume    = {1},
  number    = {3},
  pages     = {152--159},
  issn      = {0882-4967},
  publisher = {IEEE},
  timestamp = {2016-09-18},
}
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