Sánchez-García, Brandon, Fernando Reyes-Cortés, Basil Al-Hadithi, and Olga Félix-Beltrán. 2021. “Global Saturated Regulator With Variable Gains for Robot Manipulators”. Journal of Robotics and Control (JRC) 2 (6):571-81. https://doi.org/10.18196/jrc.26139.