Construction of flat outputs of nonlinear discrete-time systems in a geometric and an algebraic frameworkKolar, Bernd; Kaldmäe, Arvo; Schöberl, Markus; Kotta, Ülle; Schlacher, KurtIFAC-PapersOnLine2016 / p. 796-801 https://doi.org/10.1016/j.ifacol.2016.10.263

Flatness based control of a HVAC systemKaldmäe, Arvo; Kotta, ÜlleInformation technology and control2017 / p. 499-507 : ill http://dx.doi.org/10.5755/j01.itc.46.4.17697

Trajectory generation for autonomous mobile robotsVu, Trieu MinhComputational intelligence for decision support in cyber-physical systems2014 / p. 195-214 : ill