The transcritical bifurcation in absolutely stable feedback systems. Müller, M. A., Waldherr, S., & Allgöwer, F. In Proc.\ European Control Conf.\ (ECC), pages 2146–2151, Budapest, Hungary, 2009.
bibtex   
@INPROCEEDINGS{ist:muller.ma09a,
  author = {M{\"u}ller, M. A. and Waldherr, S. and Allg{\"o}wer, F.},
  title = {The transcritical bifurcation in absolutely stable feedback systems},
  booktitle = {Proc.\ European Control Conf.\ (ECC)},
  year = {2009},
  pages = {2146--2151},
  address = {Budapest, Hungary},
  pubtype = {proceeding}
}

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