Bandwidth Improvements for Current Control Loops with a 100 kHz PWM Frequency and GaN Power Semiconductors. - Julia Höllthaler; Rainer Hagl; Ralph Kennel (SICE, 2019)

Influence of Frequency Dependent Motor Resistance and Inductance on the Current Control Loop Design of Servo Drives. - Johannes Hilverkus; Markus Märkl; Rainer Hagl; Ralph Kennel (ISIE, 2021)

High accuracy torque measurement with position measuring devices. - Christian Brunner; Rainer Hagl (SAS, 2022)

Tilting Measurement and Compensation in Robotic Joints. - Christian Brunner; Rainer Hagl (ICMRE, 2024)