@article{brogliato.ea.1995,
  author	= {Brogliato, B. and Ortega, R. and Lozano, R.},
  title		= {Globally stable nonlinear controllers for flexible joint manipulators_ a comparative study},
  journal	= {Automatica},
  year		= {1995},
  volume	= {31},
  number	= {7},
  pages		= {941--956},
}