# Closed-loop positive real optimal control of variable stiffness actuators

> Research article (Control Engineering Practice, 2018) · cited 20× · AI/ML

**Wikidata**: [openalex:W2897202924](https://www.wikidata.org/wiki/openalex:W2897202924)  
**Source**: https://4ort.xyz/entity/closed-loop-positive-real-optimal-control-of-variable-stiffness-actuators