A robust adaptive controller for robot manipulators / Harry Berghuis, Romeo Ortega and Henk NijmeijerA Hamiltonian viewpoint in the modelling of switching power converters / G. Escobar, A.J. van der Schaft and R. OrtegaEnergy-based Lyapunov functions for forced Hamiltonian systems with dissipation / B. Maschke, R. Ortega and A.J. van der Schaft