Articles

• Stability and performance robustness in control system design
  Ph.D Dissertation, Keio University, Yokahama, Japan, December 1994
• An approach to multirate control design with multiple objectives
  Proc. of IFAC 13th World Congress, Vol.C, pp.325-330, California, USA, July 1996
• Design of multirate tracking control systems with division of frequency bonds (in Japanese)
  Proc. of 36th SICE Annual Conf., pp. 131-134, Tokushima, Japan, July, 1997
• Multi-objective multirate control design with applications to frequency dividing cooperative control
  Technical Report in Computer Science and Systems Engineering, No.CSSE-2, ISSN 1344-8803, Kyushu Institute of Technology, May, 1999

Packages for Matlab and instruction documents

• TWOCARTLIB
  Multirate control design for two-carts tracking mechanism via frequency dividing cooperative control
  A paper describing the effectiveness of the package
  How to obtain the package