Fast Side-Stepping of the Triple Inverted Pendulum via Constrained Nonlinear Feedforward Control Design. - Knut Graichen; Michael Treuer; Michael Zeitz (CDC/ECC, 2005)

Swing-up of the double pendulum on a cart by feedforward and feedback control with experimental validation. - Knut Graichen; Michael Treuer; Michael Zeitz (Autom., 2007)

Flatness-Based Feedforward in a Two-Degree-of-Freedom Control of a Pumped Storage Power Plant. - Michael Treuer; Tobias Weissbach; Veit Hagenmeyer (IEEE Trans. Control. Syst. Technol., 2011)