Integration of saturated PI synchronous control and PD feedback for control of parallel manipulators. Su, Y. X., Sun, D., Ren, L., & Mills, J. K. IEEE Trans. Robot, 22(1):202–207, 2006.
bibtex   
@Article{SCC.Su.Sun.ea2006,
  author    = {Su, Y. X. and Sun, D. and Ren, L. and Mills, J. K.},
  title     = {Integration of saturated {PI} synchronous control and {PD} feedback for control of parallel manipulators},
  journal   = {IEEE Trans. Robot},
  year      = {2006},
  volume    = {22(1)},
  pages     = {202--207},
  owner     = {Nic},
  timestamp = {2011.02.02},
}
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