A backstepping design for flight path angle control. - Ola Härkegård; S. Torkel Glad (CDC, 2000)

Control of systems with input nonlinearities and uncertainties: An adaptive approach. - Ola Härkegård; S. Torkel Glad (ECC, 2001)

Backstepping control of a rigid body. - S. Torkel Glad; Ola Härkegård (CDC, 2002)

Efficient active set algorithms for solving constrained least squares problems in aircraft control allocation. - Ola Härkegård (CDC, 2002)

Resolving actuator redundancy - Control allocation vs. linear quadratic control. - Ola Härkegård (ECC, 2003)

Resolving actuator redundancy - optimal control vs. control allocation. - Ola Härkegård; S. Torkel Glad (Autom., 2005)