Compensating Drift Vector Fields with Gradient Vector Fields for Asymptotic Submanifold Stabilization. Montenbruck, J. M., Bürger, M., & Allgöwer, F. IEEE Trans.\ Automat.\ Control, 61(2):388-399, 2016.
bibtex   
@ARTICLE{ist:montenbruck16a,
  author = {Montenbruck, J. M. and B{\"u}rger, M. and Allg{\"o}wer, F.},
  title = {Compensating Drift Vector Fields with Gradient Vector Fields for
	Asymptotic Submanifold Stabilization},
  journal = {IEEE Trans.\ Automat.\ Control},
  year = {2016},
  volume = {61},
  pages = {388-399},
  number = {2},
  pubtype = {journal}
}
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