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Kaufman, H., I. Barkana, and K. Sobel, 1998; Direct Adaptive
Control Algorithms Theory and Applications, Springer Verlag, Berlin.
ISBN 0-387-94884-8
McKerrow, J.P., 1991; Introduction to Robotics, Addison-Wesley,
Sydney, ISBN 0-201-18240-8
Skip Carter
2008-08-20