Robust Nonlinear Control Design: State-Space and Lyapunov Techniques. Freeman, R. & Kokotovic, P. V. Birkhäuser, January, 2008.
bibtex   
@book{ freeman_robust_2008,
  title = {Robust Nonlinear Control Design: State-Space and Lyapunov Techniques},
  isbn = {0817647589},
  shorttitle = {Robust Nonlinear Control Design},
  language = {English},
  publisher = {Birkhäuser},
  author = {Freeman, Randy and Kokotovic, Petar V.},
  month = {January},
  year = {2008}
}
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