Maxime Thieffry Alexandre Kruszewski Thierry-Marie Guerra Christian Duriez Reduced Order Control of Soft Robots with Guaranteed Stability. 635-640 2018 ECC https://doi.org/10.23919/ECC.2018.8550298 conf/eucc/2018 db/conf/eucc/eucc2018.html#ThieffryKGD18