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Link to original content: https://dblp.uni-trier.de/rec/journals/tac/DacicNK07.xml
Dragan B. Dacic Dragan Nesic Petar V. Kokotovic Path-Following for Nonlinear Systems With Unstable Zero Dynamics. 481-487 2007 52 IEEE Trans. Autom. Control. 3 https://doi.org/10.1109/TAC.2006.890484 db/journals/tac/tac52.html#DacicNK07