@article{Tan:2011b,
 author = {Tan, Jie and Liu, Karen and Turk, Greg},
 title = {Stable Proportional-Derivative Controllers},
 journal = {IEEE Comput. Graph. Appl.},
 volume = {31},
 number = {4},
 year = {2011},
 issn = {0272-1716},
 pages = {34--44},
 url = {http://dx.doi.org/10.1109/MCG.2011.30},
 doi = {10.1109/MCG.2011.30},
 acmid = {2006837},
 publisher = {IEEE Computer Society Press},
}