@article {InnAut03,
	title = {Sliding Mode Control for Two-Time Scale Systems: Stability Issues},
	journal = {Automatica},
	volume = {39},
	year = {2003},
	month = {February},
	pages = {273{\textendash}280},
	keywords = {Robotics},
	author = {M. Innocenti and L. Greco and L. Pollini}
}
