Sánchez-García, B., F. Reyes-Cortés, B. Al-Hadithi, and O. Félix-Beltrán. “Global Saturated Regulator With Variable Gains for Robot Manipulators”. Journal of Robotics and Control (JRC), vol. 2, no. 6, Nov. 2021, pp. 571-8, doi:10.18196/jrc.26139.