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Ragnoli, E. and Leithead, W.E.; (2005) Reconciliation of inconsistencies in the theory of linear systems. In: Switching and Learning in Feedback Systems. Lecture Notes in Computer Science . Springer-Verlag, pp. 273-289. ISBN 978-3-540-24457-8
Vilaplana, M. and Mason, O. and Leith, D.J. and Leithead, W.E.; (2005) Control of yaw rate and sideslip in four-wheel steering cars with actuator constraints. In: Switching and Learning in Feedback Systems. Lecture Notes in Computer Science . Springer-Verlag, pp. 201-222. ISBN 978-3-540-24457-8