Tracking control of a manipulator under uncertainty by FUZZY P+ID controller. Fuzzy Sets and Systems. 122:125–137.. 2001.
Experiment Study of a Mechanical Manipulator under Uncertainty by hybrid P+ID Controllers. Control Theory and Application (in Chinese). 17:73–78.. 2000.
Design of an Enhanced Hybrid Fuzzy P+ID Controller for a Mechanical Manipulator. IEEE Transactions on Systems, Man and Cybernetics - Part B. 31:938–945.. 2001.
Tracking Control of a Manipulator with Enhancement by Fuzzy P+ID Controller (invited paper). Fifth International Symposium on Methods and Models in Automation and Robotics. 3:773–779.. 1998.
Mechatronics. 9:301–315.. 1999.