Lorenzo Marconi, Laurent Praly, Alberto Isidori. Robust asymptotic stabilization of nonlinear systems with non-hyperbolic zero dynamics: Part I.
47th IEEE Conference on Decision and Control, Dec 2008, Cancun, Mexico. pp.1575-1580,
⟨10.1109/CDC.2008.4739197⟩.
⟨hal-00576035⟩