João Borges de Sousa Ricardo Martins January 2012 IFAC Proceedings Volumes, Volume 45, Issue 27, 2012, Pages 348-351 https://www.sciencedirect.com/science/article/pii/S1474667016312538/pdf?md5=b377281bb15b1861002bc94e3bc3914f&pid=1-s2.0-S1474667016312538-main.pdf https://doi.org/10.3182/20120919-3-IT-2046.00059 S1474667016312538_0.bib509 bytes
