- 2004 - 2008 Construction of an Advanced Integrated Control Structure for Safety and Functional Maintenance in Disaster-Stricken Industrial Complex
- 1996 - 1998 Design of a Friction Self-Compensation Control Law for Multi-Link Robot Using Adaptive Sliding Mode Control
- 1993 - 1993 既約分解表現を用いた2自由度制御手法による外乱推定型適応サーボ系の研究開発
- 1987 - 1989 Development of Servo-Controller to Compensate Friction Disturbances Automatically by Using Adaptive Control Technique
- 1988 - 1988 パラメータ同定によるソフトウェアサーボのオートチューニング機構の研究
- 1987 - 1987 多自由度ロボットアームに対する非干渉適応制御方式の研究
- 1986 - 1987 Servo Motor Current Feedback Control to Optimize the System including Reduction Gear Dynamics by Using Adaptive Control Technique
- 1986 - 1986 適応的アクティブ制振機構の研究
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