Funnel Control With Saturation: Linear MIMO Systems. - Norman Hopfe; Achim Ilchmann; Eugene P. Ryan (IEEE Trans. Autom. Control., 2010)

Funnel Control With Saturation: Nonlinear SISO Systems. - Norman Hopfe; Achim Ilchmann; Eugene P. Ryan (IEEE Trans. Autom. Control., 2010)

Funnel Control for Systems with Relative Degree Two. - Christoph M. Hackl; Norman Hopfe; Achim Ilchmann; Markus Mueller; Stephan Trenn (SIAM J. Control. Optim., 2013)