• PID-Type Nonlinear H-infinity Control 
    • Properties
      • Input-to-state stability
      • Analytic solution of Hamilton-Jacobi-Issac equation
      • Inverse H∞ optimality
      • Performance tuning by L2 gain
    • Performance tuning
      • Square tuning rule
      • Linear tuning rule

  • Redundant manipulator and Flexible system
    • Robust Force Control Algorithm for Redundant Manipulator 
    • Motion analysis using exact modal analysis input command preshaping