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The controller uses two exact knowledge, second\u2010order nonlinear observers to estimate the link and actuator velocities. The overall control system achieves a semiglobal exponential stability result for the link position and velocity tracking errors as well as the velocity observation errors. A stability proof and simulation results for the proposed partial state feedback controller are included in the article. \u00a9 1995<jats:italic>John Wiley &amp; Sons, Inc<\/jats:italic>.<\/jats:p>","DOI":"10.1002\/rob.4620121103","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T16:54:33Z","timestamp":1183740873000},"page":"727-746","source":"Crossref","is-referenced-by-count":2,"title":["A partial state feedback controller for tajectory tracking of rigid\u2010link fiexible\u2010joint robot using an observed backstepping approach"],"prefix":"10.1002","volume":"12","author":[{"given":"S. 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