... HeberttSira-Ram´ırez, Juan M. Ibarra, Alfonso P´amanes, Ilse Cervantes, Jos´e Alvarez-Ram´ırez, Antoine Chaillet and Marco A. Arteaga.Special words of thanks go to Ricardo Campa who actively participated in ... clearly identify thosevariables that are available and that have an in uence on the behavior of thesystem and more particularly, on its outputs. These variables are referred toas inputs and ... address in great detail a range of model-based controllers such as: Pro-portional Derivative (PD), Proportional Integral Derivative (PID), Computedtorque and some variants including adaptive...