“…In this work we extend [22] in several important directions: first, we generalize the main theorem of [22] about the existence of the unique limit cycle and our new proof, based on a different Lyapunov argument, applies to any reference θ ∈ (0, π]. Then, while [22] only reported simulation results, we report here on the development of an experimental device implementing our feedback on a SRC architecture. Finally, since only the PRC solution was simulated in [22], we perform SRC simulations here and show desirable matching of the simulation and experimental results.…”