TY  - CONF
AU  - Svishchev, Nikolai
AU  - Lino, Paolo
AU  - Maione, Guido
AU  - Rybakov, Alexsey
AU  - Lazarević, Mihailo
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4080
AB  - To control a remotely operated underwater vehicle (ROUV) of the observation ROUVs class,
the interactions among mechanical, electronic and information processing elements call for an
integrated approach at all design and development stages. Different methodologies must be
combined in a multi-formalism modelling approach supported by a suitable simulation and
prototyping environment. The proposed approach involves the development of a virtual ROUV
prototype in the ROS Gazebo environment, to assess performance in the successive developing
steps reliably, and a ROUV controller board (stm32F407, Quad-core Cortex-A7) with a digital
camera and an inertial measurement unit (3D accelerometer, 3D gyroscope, compass), to
implement and run the control algorithms in real-time. A mathematical model of the system is
derived to design a fractional-order PI controller of the ROUV yaw angle in the horizontal
plane.
The considered system is “MUVIC-Light”, which was developed by the first author to
perform inspections at a depth of up to 200 meters (Fig. 1). The characteristic features of
such system are a significant elongation (the length of the hull is several times greater than its
diameter) and the use of rudders or ailerons to control movement. The Gazebo simulator allows
to describe the objects and environment, to define the robot dynamics, and the TCP/IP
protocol to transmit video and sensor data to/from the controller board. To tune the controller, a nonlinear 6-DOF mathematical model of the ROUV dynamics is derived based on the Euler-Lagrangian formulation. Then, by linearization, a transfer function is obtained, relating the yaw angle and the voltage applied to the motors driving the ROUV.
The controller is tuned as in [1]. ROS and Gazebo allow simulation of control system, computer
vision, 3D positioning, robot path planning in a realistic environment that can be considered as
a digital twin. Namely, the developed codes can be directly used in a real scenario.
PB  - Univerzitet u Beogradu, Mašinski fakultet
C3  - Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.
T1  - ROUV heading by a fractional-order PI controler
EP  - 103
SP  - 103
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4080
ER  - 

@conference{
author = "Svishchev, Nikolai and Lino, Paolo and Maione, Guido and Rybakov, Alexsey and Lazarević, Mihailo",
year = "2022",
abstract = "To control a remotely operated underwater vehicle (ROUV) of the observation ROUVs class,
the interactions among mechanical, electronic and information processing elements call for an
integrated approach at all design and development stages. Different methodologies must be
combined in a multi-formalism modelling approach supported by a suitable simulation and
prototyping environment. The proposed approach involves the development of a virtual ROUV
prototype in the ROS Gazebo environment, to assess performance in the successive developing
steps reliably, and a ROUV controller board (stm32F407, Quad-core Cortex-A7) with a digital
camera and an inertial measurement unit (3D accelerometer, 3D gyroscope, compass), to
implement and run the control algorithms in real-time. A mathematical model of the system is
derived to design a fractional-order PI controller of the ROUV yaw angle in the horizontal
plane.
The considered system is “MUVIC-Light”, which was developed by the first author to
perform inspections at a depth of up to 200 meters (Fig. 1). The characteristic features of
such system are a significant elongation (the length of the hull is several times greater than its
diameter) and the use of rudders or ailerons to control movement. The Gazebo simulator allows
to describe the objects and environment, to define the robot dynamics, and the TCP/IP
protocol to transmit video and sensor data to/from the controller board. To tune the controller, a nonlinear 6-DOF mathematical model of the ROUV dynamics is derived based on the Euler-Lagrangian formulation. Then, by linearization, a transfer function is obtained, relating the yaw angle and the voltage applied to the motors driving the ROUV.
The controller is tuned as in [1]. ROS and Gazebo allow simulation of control system, computer
vision, 3D positioning, robot path planning in a realistic environment that can be considered as
a digital twin. Namely, the developed codes can be directly used in a real scenario.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet",
journal = "Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.",
title = "ROUV heading by a fractional-order PI controler",
pages = "103-103",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4080"
}

Svishchev, N., Lino, P., Maione, G., Rybakov, A.,& Lazarević, M.. (2022). ROUV heading by a fractional-order PI controler. in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.
Univerzitet u Beogradu, Mašinski fakultet., 103-103.
https://hdl.handle.net/21.15107/rcub_machinery_4080

Svishchev N, Lino P, Maione G, Rybakov A, Lazarević M. ROUV heading by a fractional-order PI controler. in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.. 2022;:103-103.
https://hdl.handle.net/21.15107/rcub_machinery_4080 .

Svishchev, Nikolai, Lino, Paolo, Maione, Guido, Rybakov, Alexsey, Lazarević, Mihailo, "ROUV heading by a fractional-order PI controler" in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022. (2022):103-103,
https://hdl.handle.net/21.15107/rcub_machinery_4080 .

TY  - CONF
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Šekara, Tomislav
AU  - Maione, Guido
AU  - Lino, Paolo
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4079
AB  - This paper deals with a topic of robot trajectory control which is very popular in academic
and industrial research community. The task is very challenging considering the nonlinear
nature of robot manipulators, as well as high demands in tracking performances [1]. To
accomplish this, we proposed a combined feedforward-feedback control scheme [2], which
outperforms each of these two subroutines when run separately. The first one is based on
iterative learning algorithm of proportional-derivative (PD) type, while the second one is
classical feedback controller, also of PD type [3]. Parameters of the controller are designed to
achieve good performance/robustness trade-off, which is a key element in modern control
design. Mathematical model of three degrees of freedom robot arm is derived with included
actuator dynamics [4].
One of typical industrial applications of robot manipulators is a task of following a trajectory
in space with prescribed velocity law. Processes like arc welding, painting, laser cutting, object
inspection etc., are some of which wherein such demands can be met. In this particular case,
robot manipulator needs to follow a circular trajectory with constant speed along the path.
Numerical solution of inverse kinematics problem needs to be addressed first in order to obtain
desired trajectory in joint space. Then, proposed control scheme is employed and some
preliminary results are given in figures below. Ten consecutive simulations of robot trying to
follow a predetermined path are performed using the iterative learning control algorithm. In
each subsequent simulation tracking performances are improving, reducing the maximum
distance error by ten times in overall. Furthermore, by increasing the number of simulations,
the error can be made arbitrarily small. Also, this control design allows following of different
types of trajectories, with various velocity laws.
PB  - Univerzitet u Beogradu, Mašinski fakultet
C3  - Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.
T1  - Application of iterative learning control for path following of 3DOFS robot arm
EP  - 117
SP  - 116
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4079
ER  - 

@conference{
author = "Mandić, Petar and Lazarević, Mihailo and Šekara, Tomislav and Maione, Guido and Lino, Paolo",
year = "2022",
abstract = "This paper deals with a topic of robot trajectory control which is very popular in academic
and industrial research community. The task is very challenging considering the nonlinear
nature of robot manipulators, as well as high demands in tracking performances [1]. To
accomplish this, we proposed a combined feedforward-feedback control scheme [2], which
outperforms each of these two subroutines when run separately. The first one is based on
iterative learning algorithm of proportional-derivative (PD) type, while the second one is
classical feedback controller, also of PD type [3]. Parameters of the controller are designed to
achieve good performance/robustness trade-off, which is a key element in modern control
design. Mathematical model of three degrees of freedom robot arm is derived with included
actuator dynamics [4].
One of typical industrial applications of robot manipulators is a task of following a trajectory
in space with prescribed velocity law. Processes like arc welding, painting, laser cutting, object
inspection etc., are some of which wherein such demands can be met. In this particular case,
robot manipulator needs to follow a circular trajectory with constant speed along the path.
Numerical solution of inverse kinematics problem needs to be addressed first in order to obtain
desired trajectory in joint space. Then, proposed control scheme is employed and some
preliminary results are given in figures below. Ten consecutive simulations of robot trying to
follow a predetermined path are performed using the iterative learning control algorithm. In
each subsequent simulation tracking performances are improving, reducing the maximum
distance error by ten times in overall. Furthermore, by increasing the number of simulations,
the error can be made arbitrarily small. Also, this control design allows following of different
types of trajectories, with various velocity laws.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet",
journal = "Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.",
title = "Application of iterative learning control for path following of 3DOFS robot arm",
pages = "117-116",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4079"
}

Mandić, P., Lazarević, M., Šekara, T., Maione, G.,& Lino, P.. (2022). Application of iterative learning control for path following of 3DOFS robot arm. in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.
Univerzitet u Beogradu, Mašinski fakultet., 116-117.
https://hdl.handle.net/21.15107/rcub_machinery_4079

Mandić P, Lazarević M, Šekara T, Maione G, Lino P. Application of iterative learning control for path following of 3DOFS robot arm. in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.. 2022;:116-117.
https://hdl.handle.net/21.15107/rcub_machinery_4079 .

Mandić, Petar, Lazarević, Mihailo, Šekara, Tomislav, Maione, Guido, Lino, Paolo, "Application of iterative learning control for path following of 3DOFS robot arm" in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022. (2022):116-117,
https://hdl.handle.net/21.15107/rcub_machinery_4079 .

TY  - JOUR
AU  - Mandić, Petar
AU  - Bošković, Marko C.
AU  - Sekara, Tomislav B.
AU  - Lazarević, Mihailo
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/90
AB  - This paper presents a new optimisation method for PID controller cascaded with a lead-lag compensator (PIDC). Parameters of the controller are obtained by solving the constrained optimisation problem. We propose two variants of the optimality criterion. The first one is defined through the max-min optimisation problem wherein objective function is the amplitude frequency response of the PIDC controller. The second one is based on an effective approximation of the minimum value of the amplitude frequency response of the PIDC controller. Consequently, we obtain a computationally less expensive problem. Both variants of optimality criterion result in efficient load disturbance and noise rejection, while robustness is ensured by constraining the value of the maximum sensitivity Ms. Good reference shaping is supported with proper constraints based on the Amplitude Optimum (AO) principle. Numerous batches of processes typically encountered in the industry are used to demonstrate the effectiveness of the proposed design method.
PB  - Taylor & Francis Ltd, Abingdon
T2  - International Journal of Control
T1  - A new optimisation method of PIDC controller under constraints on robustness and sensitivity to measurement noise using amplitude optimum principle
DO  - 10.1080/00207179.2021.1912392
ER  - 

@article{
author = "Mandić, Petar and Bošković, Marko C. and Sekara, Tomislav B. and Lazarević, Mihailo",
year = "2021",
abstract = "This paper presents a new optimisation method for PID controller cascaded with a lead-lag compensator (PIDC). Parameters of the controller are obtained by solving the constrained optimisation problem. We propose two variants of the optimality criterion. The first one is defined through the max-min optimisation problem wherein objective function is the amplitude frequency response of the PIDC controller. The second one is based on an effective approximation of the minimum value of the amplitude frequency response of the PIDC controller. Consequently, we obtain a computationally less expensive problem. Both variants of optimality criterion result in efficient load disturbance and noise rejection, while robustness is ensured by constraining the value of the maximum sensitivity Ms. Good reference shaping is supported with proper constraints based on the Amplitude Optimum (AO) principle. Numerous batches of processes typically encountered in the industry are used to demonstrate the effectiveness of the proposed design method.",
publisher = "Taylor & Francis Ltd, Abingdon",
journal = "International Journal of Control",
title = "A new optimisation method of PIDC controller under constraints on robustness and sensitivity to measurement noise using amplitude optimum principle",
doi = "10.1080/00207179.2021.1912392"
}

Mandić, P., Bošković, M. C., Sekara, T. B.,& Lazarević, M.. (2021). A new optimisation method of PIDC controller under constraints on robustness and sensitivity to measurement noise using amplitude optimum principle. in International Journal of Control
Taylor & Francis Ltd, Abingdon..
https://doi.org/10.1080/00207179.2021.1912392

Mandić P, Bošković MC, Sekara TB, Lazarević M. A new optimisation method of PIDC controller under constraints on robustness and sensitivity to measurement noise using amplitude optimum principle. in International Journal of Control. 2021;.
doi:10.1080/00207179.2021.1912392 .

Mandić, Petar, Bošković, Marko C., Sekara, Tomislav B., Lazarević, Mihailo, "A new optimisation method of PIDC controller under constraints on robustness and sensitivity to measurement noise using amplitude optimum principle" in International Journal of Control (2021),
https://doi.org/10.1080/00207179.2021.1912392 . .

TY  - CONF
AU  - Lazarević, Mihailo
AU  - Radojević, Darko
AU  - Maione, Guido
AU  - Pišl, Stjepko
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4091
AB  - In this contribution, the problem of finite-time stability for a class of neutral fractional-order time-varying delay systems with nonlinear parameter uncertainties and perturbations is investigated.
By use of the extended form of generalized Gronwall inequality, a new sufficient condition for
robust finite-time stability of such systems is obtained. Finally, a numerical example is provided
to illustrate the effectiveness and applicability of the proposed theoretical results.
PB  - Beograd : Srpsko društvo za mehaniku
C3  - 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30. 2021.
T1  - Finite-time stability of neutral fractional-order time-varying delay systems with nonlinear parameter uncertainties and perturbations
EP  - 661
SP  - 652
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4091
ER  - 

@conference{
author = "Lazarević, Mihailo and Radojević, Darko and Maione, Guido and Pišl, Stjepko",
year = "2021",
abstract = "In this contribution, the problem of finite-time stability for a class of neutral fractional-order time-varying delay systems with nonlinear parameter uncertainties and perturbations is investigated.
By use of the extended form of generalized Gronwall inequality, a new sufficient condition for
robust finite-time stability of such systems is obtained. Finally, a numerical example is provided
to illustrate the effectiveness and applicability of the proposed theoretical results.",
publisher = "Beograd : Srpsko društvo za mehaniku",
journal = "8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30. 2021.",
title = "Finite-time stability of neutral fractional-order time-varying delay systems with nonlinear parameter uncertainties and perturbations",
pages = "661-652",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4091"
}

Lazarević, M., Radojević, D., Maione, G.,& Pišl, S.. (2021). Finite-time stability of neutral fractional-order time-varying delay systems with nonlinear parameter uncertainties and perturbations. in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30. 2021.
Beograd : Srpsko društvo za mehaniku., 652-661.
https://hdl.handle.net/21.15107/rcub_machinery_4091

Lazarević M, Radojević D, Maione G, Pišl S. Finite-time stability of neutral fractional-order time-varying delay systems with nonlinear parameter uncertainties and perturbations. in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30. 2021.. 2021;:652-661.
https://hdl.handle.net/21.15107/rcub_machinery_4091 .

Lazarević, Mihailo, Radojević, Darko, Maione, Guido, Pišl, Stjepko, "Finite-time stability of neutral fractional-order time-varying delay systems with nonlinear parameter uncertainties and perturbations" in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30. 2021. (2021):652-661,
https://hdl.handle.net/21.15107/rcub_machinery_4091 .

TY  - CONF
AU  - Cvetković, Boško
AU  - Lazarević, Mihailo
AU  - Mandić, Petar
AU  - Šekara, Tomislav
AU  - Lino, Paolo
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4092
AB  - In this paper, an advanced iterative learning control algorithm (ILC) is introduced in order to
solve the output tracking problem of a robotic manipulator with three degrees of freedom.
Iterative fractional order PDμ type control is located in feedforward path, and combined together
with classical feedback PD controller. Fractional derivative μ provides additional flexibility in
adjusting the output performances. Parameters of the feedback controller are derived using a
modern approach which takes into consideration both performance and robustness characteristics
of the closed loop system. This is achieved by a suitable selection of only one adjustable
parameter. Mathematical model of robotic manipulator is derived together with actuator
dynamics, and it is shown that in the presence of high gear ratio the nonlinear effects can be
neglected, and only linear model can be observed. The efficiency of the proposed control
algorithm is demonstrated by simulations, in which robotic arm needs to follow desired trajectory
given in joint space. Excellent tracking performances are achieved only after few iterations.
PB  - Beograd : Srpsko društvo za mehaniku
C3  - 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.
T1  - Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system
EP  - 353
SP  - 344
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4092
ER  - 

@conference{
author = "Cvetković, Boško and Lazarević, Mihailo and Mandić, Petar and Šekara, Tomislav and Lino, Paolo",
year = "2021",
abstract = "In this paper, an advanced iterative learning control algorithm (ILC) is introduced in order to
solve the output tracking problem of a robotic manipulator with three degrees of freedom.
Iterative fractional order PDμ type control is located in feedforward path, and combined together
with classical feedback PD controller. Fractional derivative μ provides additional flexibility in
adjusting the output performances. Parameters of the feedback controller are derived using a
modern approach which takes into consideration both performance and robustness characteristics
of the closed loop system. This is achieved by a suitable selection of only one adjustable
parameter. Mathematical model of robotic manipulator is derived together with actuator
dynamics, and it is shown that in the presence of high gear ratio the nonlinear effects can be
neglected, and only linear model can be observed. The efficiency of the proposed control
algorithm is demonstrated by simulations, in which robotic arm needs to follow desired trajectory
given in joint space. Excellent tracking performances are achieved only after few iterations.",
publisher = "Beograd : Srpsko društvo za mehaniku",
journal = "8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.",
title = "Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system",
pages = "353-344",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4092"
}

Cvetković, B., Lazarević, M., Mandić, P., Šekara, T.,& Lino, P.. (2021). Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system. in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.
Beograd : Srpsko društvo za mehaniku., 344-353.
https://hdl.handle.net/21.15107/rcub_machinery_4092

Cvetković B, Lazarević M, Mandić P, Šekara T, Lino P. Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system. in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.. 2021;:344-353.
https://hdl.handle.net/21.15107/rcub_machinery_4092 .

Cvetković, Boško, Lazarević, Mihailo, Mandić, Petar, Šekara, Tomislav, Lino, Paolo, "Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system" in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021. (2021):344-353,
https://hdl.handle.net/21.15107/rcub_machinery_4092 .

TY  - CONF
AU  - Bošković, Marko
AU  - Rapaić, Milan
AU  - Šekara, Tomislav
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4100
AB  - U ovom radu je data jedna efikasna metoda projektovanja složenih kompenzatora bez integralnog dejstva. Kompenzatori sa ovakvom strukturom imaju primjenu u robotici i mehatroničkim sistemima. Željeni indeksi performanse i robusnosti ostvaruju se pogodnim izborom jednog podesivog parametra lamda što čini predloženu metodu fleksibilnom i jednostavnom za primjenu. Kompenzator je prvenstveno projektovan da se dobiju odzivi bez preskoka sa adekvatnom
brzinom reagovanja na step referentni signal, dok su maksimum funkcije osjetljivosti Ms i maksimum komplementarne funkcije osjetljivosti Mp korišćeni kao indeksi robusnosti. Dobijeni
kompenzatori su predstavljeni racionalnom funkcijom prenosa relativno niskog reda (manjeg od četiri) primjenom Padé aproksimacije eksponencijalnog člana. Efikasnost predložene
metode ilustrovana je numeričkim simulacijama na dvanaest tipičnih predstavnika industrijskih procesa: stabilnih, integralnih i nestabilnih, uključujući i transportno kašnjenje.
PB  - BiH: Istočno Sarajevo: Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet
C3  - Zbornik  radova  18th International Symposium INFOTEH-JAHORINA, 20-22 March 2019.
T1  - Jedna nova metoda projektovanja složenih kompenzatora u sistemima upravljanja
EP  - 387
SP  - 382
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4100
ER  - 

@conference{
author = "Bošković, Marko and Rapaić, Milan and Šekara, Tomislav and Mandić, Petar and Lazarević, Mihailo",
year = "2019",
abstract = "U ovom radu je data jedna efikasna metoda projektovanja složenih kompenzatora bez integralnog dejstva. Kompenzatori sa ovakvom strukturom imaju primjenu u robotici i mehatroničkim sistemima. Željeni indeksi performanse i robusnosti ostvaruju se pogodnim izborom jednog podesivog parametra lamda što čini predloženu metodu fleksibilnom i jednostavnom za primjenu. Kompenzator je prvenstveno projektovan da se dobiju odzivi bez preskoka sa adekvatnom
brzinom reagovanja na step referentni signal, dok su maksimum funkcije osjetljivosti Ms i maksimum komplementarne funkcije osjetljivosti Mp korišćeni kao indeksi robusnosti. Dobijeni
kompenzatori su predstavljeni racionalnom funkcijom prenosa relativno niskog reda (manjeg od četiri) primjenom Padé aproksimacije eksponencijalnog člana. Efikasnost predložene
metode ilustrovana je numeričkim simulacijama na dvanaest tipičnih predstavnika industrijskih procesa: stabilnih, integralnih i nestabilnih, uključujući i transportno kašnjenje.",
publisher = "BiH: Istočno Sarajevo: Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet",
journal = "Zbornik  radova  18th International Symposium INFOTEH-JAHORINA, 20-22 March 2019.",
title = "Jedna nova metoda projektovanja složenih kompenzatora u sistemima upravljanja",
pages = "387-382",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4100"
}

Bošković, M., Rapaić, M., Šekara, T., Mandić, P.,& Lazarević, M.. (2019). Jedna nova metoda projektovanja složenih kompenzatora u sistemima upravljanja. in Zbornik  radova  18th International Symposium INFOTEH-JAHORINA, 20-22 March 2019.
BiH: Istočno Sarajevo: Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet., 382-387.
https://hdl.handle.net/21.15107/rcub_machinery_4100

Bošković M, Rapaić M, Šekara T, Mandić P, Lazarević M. Jedna nova metoda projektovanja složenih kompenzatora u sistemima upravljanja. in Zbornik  radova  18th International Symposium INFOTEH-JAHORINA, 20-22 March 2019.. 2019;:382-387.
https://hdl.handle.net/21.15107/rcub_machinery_4100 .

Bošković, Marko, Rapaić, Milan, Šekara, Tomislav, Mandić, Petar, Lazarević, Mihailo, "Jedna nova metoda projektovanja složenih kompenzatora u sistemima upravljanja" in Zbornik  radova  18th International Symposium INFOTEH-JAHORINA, 20-22 March 2019. (2019):382-387,
https://hdl.handle.net/21.15107/rcub_machinery_4100 .