Nonlinear optimization of robust H∞ controllers for industrial robot manipulators. - Hansjörg G. Sage; Michel de Mathelin; Gabriel Abba; Jacques Gangloff; Eric P. Ostertag (ICRA, 1997)

Synthesis of H∞ controllers with application to industrial robot manipulators. - Hansjörg G. Sage (VDI-Verlag, 1997)

Synthesis of Robust H∞ Controllers for Industrial Robot Manipulators Using Nonlinear Optimization. - Hansjörg G. Sage; Michel de Mathelin; Gabriel Abba; Jacques Gangloff; Eric P. Ostertag (Intell. Autom. Soft Comput., 1999)

Canonical H state-space parametrization. - Hansjörg G. Sage; Michel de Mathelin (Autom., 2000)