Scheduled Control of a Small Unmanned Underwater Vehicle Using Zero Optimization. - Helgi Porgilsson; Gísli Herjólfsson; Anna Soffía Hauksdóttir; Sven Þ. Sigurðsson (CDC, 2006)

Closed form solutions of the Sylvester and the Lyapunov equations - closed form Gramians. - Anna Soffía Hauksdóttir; Sven Þ. Sigurðsson; Sigurður Örn Aðalgeirsson; Helgi Porgilsson; Gísli Herjólfsson (ACC, 2008)