Non-linear position control of a pneumatic actuator with closed-loop stiffness and damping tuning. - Frederic Abry; Xavier Brun; Sylvie Sesmat; Eric Bideaux (ECC, 2013)

Non linear position and closed loop stiffness control for a pneumatic actuated haptic interface: the BirthSIM. - Nicolas Herzig; Richard Moreau; Tanneguy Redarce; Frederic Abry; Xavier Brun (IROS, 2015)

Electropneumatic Cylinder Backstepping Position Controller Design With Real-Time Closed-Loop Stiffness and Damping Tuning. - Frederic Abry; Xavier Brun; Sylvie Sesmat; Eric Bideaux; Christophe Ducat (IEEE Trans. Control. Syst. Technol., 2016)