Leonardo Lanari Pierre Sicard John T. Wen Stability Analysis for Feedforward Approximations in the Control of Flexible Joint Robots. 990-995 1993 conf/icra/1993 ICRA (3) db/conf/icra/icra1993-3.html#LanariSW93 http://dx.doi.org/10.1109/ROBOT.1993.291819