Linearization by output injection and nonlinear observers. Krener, A. J. & Isidori, A. Syst. Control Lett., 3(1):47–52, 1983.
bibtex   
@Article{SCC.Krener.Isidori1983,
  author    = {Krener, A. J. and Isidori, A.},
  title     = {Linearization by output injection and nonlinear observers},
  journal   = {Syst. Control Lett.},
  year      = {1983},
  volume    = {3},
  number    = {1},
  pages     = {47--52},
  owner     = {ashwin},
  timestamp = {2009.12.17},
}

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