@article{paperid:1078982,
author = {Sajjad Shoja and Toossian Shandiz, Heydar},
title = {Discrete‐time based sliding‐mode control of robot manipulators},
journal = {International Journal of Intelligent Computing and Cybernetics},
year = {2012},
volume = {5},
number = {3},
month = {August},
issn = {1756-378X},
pages = {340--358},
			numpages = {18},
keywords = {Sampling time; Discrete-time sliding mode; Terminal sliding mode;
Linear and nonlinear manifolds; N-link robot manipulator; Robots; Control technology; Control systems},
}