國立臺灣師範大學電機工程學系Y.-H. ChienW.-Y. WangY.-G. LeuK.-Y. LianT.-T. Lee2014-10-302014-10-302011-11-27http://rportal.lib.ntnu.edu.tw/handle/20.500.12235/31981B-Spline Backstepping Control with Mean-Value Estimation and First-Order Filters