A predictive robust cascade position-torque control strategy for Pneumatic Artificial Muscles. - Lotfi Chikh; Philippe Poignet; François Pierrot; Micaël Michelin (ACC, 2010)

A mixed GPC-H∞ robust cascade position-pressure control strategy for electropneumatic cylinders. - Lotfi Chikh; Philippe Poignet; François Pierrot; Cédric Baradat (ICRA, 2010)