# Integral Sliding Mode Convex Optimization in Uncertain Lagrangian Systems Driven by PMDC Motors: Averaged Subgradient Approach

> Research article (IEEE Transactions on Automatic Control, 2020) · cited 21× · AI/ML

**Wikidata**: [openalex:W3094052443](https://www.wikidata.org/wiki/openalex:W3094052443)  
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