Characterization and Designing Integral Sliding Mode Controller for 2-Link Robot System with Coulomb Friction. Al-Nahrain Journal for Engineering Sciences, [S. l.], v. 23, n. 3, p. 249–259, 2020. DOI: 10.29194/NJES.23030249. Disponível em: https://nahje.journalpath.com/nahje/article/view/227. Acesso em: 12 apr. 2026.