Performance limits imposed by semi-active damping constraints. - Philip S. Harvey; Henri P. Gavin (ACC, 2010)

Approximate solutions to nonlinearly-constrained optimal control problems. - Philip S. Harvey; Henri P. Gavin (ACC, 2011)

A dual method for determining the performance limits of a semiactively constrained control system. - Philip S. Harvey; Jeffrey T. Scruggs; Henri P. Gavin (ACC, 2012)