The almost disturbance decoupling problem with internal stability for linear systems subject to input saturation—state feedback case. Lin, Z., Saberi, A., & Teel, A. R. 1996.
bibtex   
@article{2625,
  author = {Zongli Lin and Ali Saberi and Andrew R. Teel},
  title = {The almost disturbance decoupling problem with internal stability for linear systems subject to input saturation—state feedback case},
  year = {1996}
}

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