Multiple model adaptive control with safe switching. Anderson, B., Brinsmead, T., Liberzon, D., & Stephen Morse, A. Int. J. Adapt. Control Signal Process., 15(5):445–470, Wiley Online Library, 2001.
bibtex   
@Article{SCC.Anderson.Brinsmead.ea2001,
  author    = {Anderson, Brian and Brinsmead, Thomas and Liberzon, Daniel and Stephen Morse, A.},
  title     = {Multiple model adaptive control with safe switching},
  journal   = {Int. J. Adapt. Control Signal Process.},
  year      = {2001},
  volume    = {15},
  number    = {5},
  pages     = {445--470},
  owner     = {pdeptula},
  publisher = {Wiley Online Library},
  timestamp = {2016.05.03},
}

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