Feedback regularization based PD controller for a planar three-link biped robot. - W. M. L. T. Weerakoon; D. H. S. Maithripala; Jordan M. Berg (ICIIS, 2017)

Feedback Regularization and Geometric PID Control for Robust Stabilization of a Planar Three-link Hybrid Bipedal Walking Model. - W. M. L. T. Weerakoon; T. W. U. Madhushani; D. H. S. Maithripala; Jordan M. Berg (ACC, 2018)