Phung, Tri Cong. “Study on Application of Real-Time Control Method for Controlling Position of Robots in the Given Time”. Science & Technology Development Journal - Engineering and Technology 3, no. 3 (December 3, 2020): 461-471. Accessed January 21, 2022. http://stdjet.scienceandtechnology.com.vn/index.php/stdjet/article/view/759.