@article{siqueira_terra_ishihara_barbeiro_2009,  title={Underactuated manipulator robot control via H2, H∞, H2/H∞, and µ-synthesis approaches: a comparative study},  volume={31},  ISSN={1678-5878},  url={https://doi.org/10.1590/S1678-58782009000400001},  DOI={10.1590/S1678-58782009000400001},  number={4},  journal={Journal of the Brazilian Society of Mechanical Sciences and Engineering},  publisher={Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM},  author={Siqueira, Adriano A. G. and Terra, Marco H. and Ishihara, João Y. and Barbeiro, Tácio L. S.},  year={2009},  month={Oct},  pages={279–288} }