Disturbance Attenuation with Actuator Constraints by Hybrid State Feedback Control. Scherer, C.; Chen, H.; and Allgöwer, F. In Proc.\ 41st IEEE Conf.\ Decision and Control (CDC), pages 4134-4139, Las Vegas, NV, USA, 2002.
bibtex   
@INPROCEEDINGS{ist:scherer02a,
  author = {Scherer, C.W. and Chen, H. and Allg{\"o}wer, F.},
  title = {Disturbance Attenuation with Actuator Constraints by Hybrid State
	Feedback Control},
  booktitle = {Proc.\ 41st IEEE Conf.\ Decision and Control (CDC)},
  year = {2002},
  pages = {4134-4139},
  address = {Las Vegas, NV, USA},
  pubtype = {proceeding}
}
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