Tudor Corneliu Ionescu, Kenji Fujimoto, Jacquelien M. A. Scherpen. Positive and bounded real balancing for nonlinear systems - a controllability and observability function approach. In Proceedings of the 48th IEEE Conference on Decision and Control, CDC 2009, combined withe the 28th Chinese Control Conference, December 16-18, 2009, Shanghai, China. pages 4310-4315, IEEE, 2009. [doi]
Abstract is missing.