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- F. Caccavale and L. Villani, Output feedback control for position and attitude tracking, PRISMA Technical Report 98-01, Napoli, Mar. 1998.
- F. Caccavale, C. Natale, B. Siciliano, L. Villani, A review of resolved acceleration control of robot manipulators with experiments, PRISMA Technical Report 97-01, Napoli, July 1997.