Robust nonlinear control of feedforward systems with unmodeled dynamics. Arcak, M., Teel, A., & Kokotovic, P. Automatica, 37(2):265–272, 2001.
bibtex   
@Article{SCC.Arcak.Teel.ea2001,
  author    = {Arcak, Murat and Teel, Andrew and Kokotovic, Petar},
  title     = {Robust nonlinear control of feedforward systems with unmodeled dynamics},
  journal   = {Automatica},
  year      = {2001},
  volume    = {37},
  number    = {2},
  pages     = {265--272},
  file      = {:SCC.Arcak.Teel.ea2001.pdf:PDF},
  owner     = {Nic},
  timestamp = {2011.08.25},
}

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