Magnetically suspended balance beam with disturbances: A test rig for nonlinear output regulation. - Zongli Lin; Matthias Glauser; Tingshu Hu; Paul E. Allaire (CDC, 2004)

Modeling and Control of a Partial Body Weight Support System. - Matthias Glauser; Zongli Lin; Paul E. Allaire (ACC, 2007)

Modeling and Control of a Partial Body Weight Support System: An Output Regulation Approach. - Matthias Glauser; Zongli Lin; Paul E. Allaire (IEEE Trans. Control. Syst. Technol., 2010)