Kun Zhang, Heng Zhang, Zhaoyun Zhang, Dan Tian, Shengli Tian, Xinfeng Liu, Bin Ma, Peng Zhang, MingChao Du, Xianwei Meng. "Research on precision control strategy of electro-hydraulic proportional system for shotcrete robotic arm based on PID-MPC." Scientific Reports, 2025. doi:10.1038/s41598-025-17727-2