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Amirkhani, Saeed (author), Mobayen, Saleh (author), Iliaee, Nahal (author), Boubaker, Olfa (author), Hassan HosseinNia, S. (author)In this article, a fast terminal sliding mode control technique is used for robust tracking control of a nonlinear uncertain mass–spring system in the existence of external perturbation. This system is considered as a benchmark problem in the flexible joint mechanisms. The joints flexibility in the robotic systems creates one of the most...journal article 2019