AO Software Design Book
2. KSD/101, "Keck II DCS High-Level Coordination"
3. "EPICS Application Developer's Guide", Chapter 6
4. "Keck II SCC 26-Apr-96 meeting report", Section 7.3
5. KSD/40, "DCS Coordinate Systems", W. F. Lupton, 1994
6. "Instrument rotators: functional specification and control strategy", G. R. Hovey, 1986
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