American Control Conference, page. 2459 - 2464, 2003-06-04
International Conference on Control, Automation and Systems, page. 1933 - 1938, 2003-10-22
International Conference on Advanced Mechatronics, page. 27 - 32, 1998-01-01
International Conference on Robotics and Automation, page. 4140 - 4146, 2004-04-27
American Control Conference, page. 541 - 546, 2001-06-25