Output regulation of nonlinear systems. Isidori, A., Byrnes, & I, C. Automatic Control, IEEE Transactions on, 35(2):131–140, 1990.
bibtex   
@article{ isidori_output_1990,
  title = {Output regulation of nonlinear systems},
  volume = {35},
  number = {2},
  journal = {Automatic Control, {IEEE} Transactions on},
  author = {Isidori, Alberto and Byrnes, Christopher I},
  year = {1990},
  pages = {131–140}
}
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