Al-Awad, N. A., A. J. Humaidi, and A. S. Al-Araji. “Fractional Multi-Loop Active Disturbance Rejection Control for a Lower Knee Exoskeleton System”. Acta Polytechnica, vol. 63, no. 3, July 2023, pp. 158–170, doi:10.14311/AP.2023.63.0158.