@article{discretetimeflatnessbasedcontrolofa,
  title = {Discrete-time Flatness-based Control of a Gantry Crane},
  author = {Johannes Diwold and Bernd Kolar and Markus Schöberl},
  year = {2021},
  eprint = {2108.08658},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2108.08658v1},
}