SILS cholecystectomy is feasible, with acceptable morbidity. Although not directly compared in this study, postoperative recovery appears shorter than after standard laparoscopy, but more studies are needed.

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A novel control algorithm involving a robust inverse dynamics estimation (RIDE) is presented. It is shown how the control algorithm can be used in conjunction with a new safe criterion to result in the optimal and safe control algorithm (OSCA). The OSCA control algorithm is applied to the control of a high performance missile, where it is shown to provide excellent performance in terms of tight non-interacting and safe control in the presence of actuator saturation.

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