J. E. Slotine and W. Li, Original RISE Time-Varying Feedback RISE (a) No payload Original RISE Time-Varying Feedback RISE (b) Payload of 0.225 Kg Fig. 9, Applied Nonlinear Control. Englewood Cliffs, 1991.

H. Jingqing, A new type of controller: Nlpid, Control and Decision, vol.9, issue.6, pp.401-407, 1994.

H. Jianbo and S. Manhong, Robust gain-scheduling control for a class of uncertain nonlinear systems with exogenous signals, Proc. IEEE 6th World Congress on Intelligent Control and Automation, pp.2234-2238, 2006.

L. Ling and D. Hao, A new hyperchaotic system control via adaptive feedback design with an uncertain parameter, Proc. IEEE 32nd Chinese Control Conference, pp.840-843, 2013.

B. Xian, M. De-queiroz, and D. Dawson, A continuous control mechanism for uncertain nonlinear systems, Optimal Control, Stabilization and Nonsmooth Analysis, vol.301, pp.251-264, 2004.

N. Fischer, D. Hughes, P. Walters, E. Schwartz, and W. Dixon, Nonlinear rise-based control of an autonomous underwater vehicle, IEEE Transactions on Robotics, vol.30, issue.4, pp.845-852, 2014.

N. Fischer, Z. Kan, R. Kamalapurkar, and W. Dixon, Saturated rise feedback control for a class of second-order nonlinear systems, IEEE Transactions on Automatic Control, vol.59, issue.4, pp.1094-1099, 2014.

N. Kamaldin, S. Chen, C. Kong, C. Teo, and K. Tan, Adaptive parameter and gain rise control of a flexure-based dual-drive 'h' gantry, Proc. IEEE International Conference on Advanced Intelligent Mechatronics (AIM), pp.1240-1245, 2016.

J. Yao, W. Deng, and Z. Jiao, Rise-based adaptive control of hydraulic systems with asymptotic tracking, IEEE Transactions on Automation Science and Engineering, vol.14, issue.3, pp.1524-1531, 2017.

M. Bennehar, A. Chemori, and F. Pierrot, A novel rise-based adaptive feedforward controller for redundantly actuated parallel manipulators, Proc. IEEE International Conference on Intelligent Robots and Systems (IROS), pp.2389-2394, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01070860

M. Bennehar, A. Chemori, M. Bouri, L. Jenni, and F. Pierrot, A new rise-based adaptive control of pkms: Design, stability analysis and experiments, International Journal of Control, vol.91, issue.3, pp.593-607, 2018.
URL : https://hal.archives-ouvertes.fr/lirmm-01692463

G. Chaudhary and J. Ohri, 3-dof parallel manipulator control using pid controller, Proc. IEEE 1st International Conference on Power Electronics, Intelligent Control and Energy Systems, pp.1-6, 2016.

Y. Su, B. Duan, and C. Zheng, Nonlinear pid control of a six-dof parallel manipulator, IEE Proceedings-Control Theory and Applications, vol.151, issue.1, pp.95-102, 2004.

A. Codourey, Dynamic modeling of parallel robots for computedtorque control implementation, The International Journal of Robotics Research, vol.17, issue.12, pp.1325-1336, 1998.

M. Rachedi, B. Hemici, and M. Bouri, Design of an h? controller for the delta robot: experimental results, Advanced Robotics, vol.29, issue.18, pp.1165-1181, 2015.

H. Saied, A. Chemori, M. E. Rafei, C. Francis, and F. Pierrot, Actuator and friction dynamics formulation in control of pkms: From design to real-time experiments, Proc. IEEE International Conference on Intelligent Robots and Systems (IROS), pp.5634-5639, 2018.
URL : https://hal.archives-ouvertes.fr/lirmm-01887156

G. S. Natal, A. Chemori, and F. Pierrot, Dual-space control of extremely fast parallel manipulators: Payload changes and the 100g experiment, IEEE Transactions on Control Systems Technology, vol.23, pp.1520-1535, 2015.
URL : https://hal.archives-ouvertes.fr/lirmm-01342858

M. Bennehar, G. El-ghazaly, A. Chemori, and F. Pierrot, A novel adaptive terminal sliding mode control for parallel manipulators: Design and real-time experiments, Proc. IEEE International Conference on Robotics and Automation (ICRA), pp.6086-6092, 2017.
URL : https://hal.archives-ouvertes.fr/lirmm-01718202

G. S. Natal, A. Chemori, and F. Pierrot, Nonlinear control of parallel manipulators for very high accelerations without velocity measurement: Stability analysis and experiments on par2 parallel manipulator, Robotica, vol.34, pp.43-70, 2016.
URL : https://hal.archives-ouvertes.fr/lirmm-01342856

M. Bennehar, A. Chemori, and F. Pierrot, A new revised desired compensation adaptive control for enhanced tracking: application to ra-pkms, Advanced Robotics, vol.30, pp.1199-1214, 2016.
URL : https://hal.archives-ouvertes.fr/hal-01346433

R. Clavel, Device for the movement and positioning of an element in space, 1990.

W. Shang, S. Cong, Z. Li, and S. Jiang, Augmented nonlinear pd controller for a redundantly actuated parallel manipulator, Advanced Robotics, vol.23, pp.1725-1742, 2009.