A Simulation/Experimental Study of the Noisy Behavior of the Time-Domain Passivity Controller.

Jee-Hwan Ryu Blake Hannaford Dong-Soo Kwon Jong-Hwan Kim A Simulation/Experimental Study of the Noisy Behavior of the Time-Domain Passivity Controller. 733-741 2005 21 IEEE Transactions on Robotics 4 http://dx.doi.org/10.1109/TRO.2005.847611 db/journals/trob/trob21.html#RyuHKK05