State Feedback Sliding Mode Controller Design for Human Swing Leg System. Al-Nahrain Journal for Engineering Sciences, [S. l.], v. 21, n. 1, p. 51–59, 2018. DOI: 10.29194/NJES21010051. Disponível em: https://nahje.com/nahje/article/view/421. Acesso em: 28 apr. 2026.