Feedback gain tuning by the complex method- application examples for an inverted pendulum and flexible arm control. - Tetsuji Shimogawa; Chang-Jun Lin; Hiroaki Ozaki (Adv. Robotics, 1998)

A feedback control gain tuning for mechatronic systems by iterative trials. - Hiroaki Ozaki; Tetsuji Shimogawa; Chang-Jun Lin (IROS, 2001)