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Tso, S. K. and Law, P.L and Xu, Y. and Shum, H. Y. (1993) Implementing Model-Based Variable-Structure Controllers For Robot Manipulators With Actuator Modelling. In: Proceedings of the 1993 IEEEIRSJ International Conference on Intelligent Robots and Systems, July 26-30.1993, Yokohama, Japan.