Various device embodiments comprise a pulse generator, a signal processing module and a controller. The pulse generator is adapted to provide a neural stimulation signal to be applied at a neural simulation site within an autonomic nervous system (ANS). The signal processing module is adapted to receive and process sensed neural traffic at a neural sensing site within the ANS. The controller is connected to the pulse generator and adapted to provide a neural stimulation control signal to the pulse generator to generate the neural stimulation signal, and to the signal processing module to receive a feedback control signal indicative of the sensed neural traffic. The controller is adapted to adjust the neural stimulation control signal to adjust at least one parameter of the neural stimulation signal to converge on desired sensed neural traffic at the neural sensing site. Other aspects and embodiments are provided herein.