@article{xu2018constrained,
  title={Constrained control of input--output linearizable systems using control sharing barrier functions},
  author={Xu, Xiangru},
  journal={Automatica},
  volume={87},
  pages={195--201},
  year={2018},
  publisher={Elsevier},
  url={https://www.sciencedirect.com/science/article/pii/S0005109817305046}
}

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