Barrier Lyapunov functions for the control of output-constrained nonlinear systems. Tee, K. P., Ge, S. S., & Tay, E. H. Automatica, 45(4):918–927, Elsevier, 2009.
bibtex   
@Article{SCC.Tee.Ge.ea2009,
  author        = {Tee, Keng Peng and Ge, Shuzhi Sam and Tay, Eng Hock},
  title         = {Barrier {L}yapunov functions for the control of output-constrained nonlinear systems},
  journal       = {Automatica},
  year          = {2009},
  volume        = {45},
  number        = {4},
  pages         = {918--927},
  __markedentry = {[rushik:6]},
  file          = {:SCC.Tee.Ge.ea2009.pdf:PDF},
  publisher     = {Elsevier},
}

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