I have this weird question. I got a sentence starting with "the rest of" and while I know it clearly takes a singular verb when it refers to one thing, and also it takes a plural verb when it refers to a group of people or ... . but, everything becomes complicated when we have parenthetical phrases in here.
The rest of this work, including error dynamics, parameter-tunable controller, definition of the constraints, and proof of stability of the adaptive robust controller, have been fully discussed in [25] which further references other important derivations in [28] through [33].