... flexible links. AIAA J Guid Contr Dyn. 16 :11 6 9 -1 17 6 [14 1 De Luca A, Siciliano B 19 96 Flexible Links. In:< /b> Canudas de Wit C, Siciliano B, Bastin G (eds) Theory of Robot Control.< /b> Springer-Verlag, ... London, UK, pp 219 2 61 [15 ] De Luca A, Tomei P 19 96 Elastic Joints. In:< /b> Canudas de Wit C, Siciliano B, Bastin G (eds) Theory of Robot Control.< /b> Springer-Verlag, London, UK, pp 17 9-2 < /b> 17 [16 ] Devasia ... the input w, we add 2(N - < /b> i) integrators, with states ~j, on the ith channel (i = 1, ,N- 1; j = 1, ,2(N- i)): WN = VN 'N -1 = N-I ,1, N -1 , 1 = Wl = 11 , 11 = ~)N -1 , 2 z VN -1 ~i,2(i-i)...