@ARTICLE{m.gonzález-fierro2016fractionalcontrolof, TITLE = {Fractional Control of a Humanoid Robot Reduced Model with Model Disturbances}, JOURNAL = {Journal of Cybernetics and Systems }, VOLUME = {47}, NUMBER = {6}, PAGES = {445 - 459}, YEAR = {2016}, AUTHOR = {M. González-Fierro, C.A. Monje, C. Balaguer} }