Namco Bandai Games have apologised for the unauthorised use of several video game tracks in Super Robot Wars K. They have confirmed that Lufia II's "Save the Earth" was arranged for this track and Chrono Trigger's "Battle with Magus" was arranged on this this track. The company has held talks with Taito and Square Enix concerning the situation. They have made a public apology and paid an appropriate settlement.
The composer Kennosuke Suemura also allegedly plagiarised Warcraft II in Super Robot Wars W. However, there have been no reports of legal action being taken.
Chrono Trigger: http://www.youtube.com/watch?v=9HMDul_v4YU
Actually I saw the Lufia video long ago on Nicovideo, but I thought it was just some random fan-created remix...