In this work, we will give an overview of our recent progress in experimental continuation. First, three different approaches are explained and compared which can be found in scientific papers on the topic. We then show S-Curve measurements of a Duffing oscillator experiment for which we derived optimal controller gains analytically. The derived formula for stabilizing PD-controller gains makes trial and error search for suitable values unnecessary. Since feedback control introduces higher harmonics in the driving signal, we consider a harmonization of the forcing signal. This harmonization is important to reduce shaker-structure interaction in the treatment of nonlinear frequency responses. Finally, the controlled nonlinear testing and harmonization is enhanced by a continuation algorithm adapted from numerical analysis and applied to a geometrically nonlinear beam test rig for which we measure the nonlinear forced response directly in the displacement-frequency plane.