A. M. Abdullah, S. A. Al-Samarraie, H. H. Ali, and A. A. Al-Qassar, “Design and Implementation of a Backstepping Time Varying Sliding Mode Control for the Angular Velocity Control of a Hydraulic Rotary Actuator”, J Robot Control (JRC), vol. 6, no. 1, pp. 177–190, Jan. 2025.