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Output-feedback global stabilization of a nonlinear benchmark system using a saturated passivity-based controller

Gerardo Escobar, Romeo Ortega, Hebertt Sira-Ramírez. Output-feedback global stabilization of a nonlinear benchmark system using a saturated passivity-based controller. IEEE Trans. Contr. Sys. Techn., 7(2):289-293, 1999. [doi]

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