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Guanrong Chen, Rui J. P. de Figueiredo (1990). Optimal Nonlinear Feedback System Design for a General Tracking ProblemOptimal Nonlinear Feedback System Design for a General Tracking Problem. Birkhäuser Boston eBooks, pp. 429-436, DOI: 10.1007/978-1-4612-4484-4_41,
