@article{NiculescuBrogliato.1999,
  author	= {Niculescu, S. I. and Brogliato, B.},
  title		= {On force measurement time-delay in control of constrained manipulators},
  journal	= {European Journal of Control},
  year		= {1999},
  volume	= {5},
  pages		= {279--289},
}