Intelligent Motor Control - A Servo System Design Based on the Two Degrees of Freedom Controller and Its Application to Robot Control. - Yoichi Hori; Takaji Umeno; Tomoaki Kaneko (J. Robotics Mechatronics, 1990)

Robust servosystem design with two degrees of freedom and its application to novel motion control of robot manipulators. - Takaji Umeno; Tomoaki Kaneko; Yoichi Hori (IEEE Trans. Ind. Electron., 1993)