@article{200038, title={On Decoupling Control for a Mechanical System with Parameter Perturbations}, author={Shigehiko FURUYA and Nobuaki KOBAYASHI and Toshio WATANABE and Yasuhiko KIRA}, journal={Transactions of the Institute of Systems, Control and Information Engineers}, volume={13}, number={1}, pages={38-45}, year={2000}, doi={10.5687/iscie.13.38} }