@incollection{Mulero-Martinez10,
author = {Juan Ignacio Mulero-Martinez},
title = {Design of Adaptive Controllers based on Christoffel Symbols of First Kind},
booktitle = {Advances in Robot Manipulators},
publisher = {IntechOpen},
address = {Rijeka},
year = {2010},
editor = {Ernest Hall},
chapter = {10},
doi = {10.5772/9669},
url = {https://doi.org/10.5772/9669}
}