H-infinity Sliding Mode Controller Design for a Human Swing Leg System. Al-Nahrain Journal for Engineering Sciences, [S. l.], v. 23, n. 2, p. 117–126, 2020. DOI: 10.29194/NJES.23020117. Disponível em: https://nahje.com/nahje/article/view/213. Acesso em: 12 apr. 2026.