An error energy shaping interpretation of tracking controllers for mechanical systems. - Samuel Y. Chang; J. Christian Gerdes (ACC, 2002)

Differential geometric structures in vehicle lane keeping and roll mitigation. - Samuel Y. Chang; J. Christian Gerdes (ACC, 2005)

Degenerate Mechanical Systems A Framework for Tracking Control. - Samuel Y. Chang; J. Christian Gerdes (ACC, 2007)