@article {BB02,
	title = {Necessary and Sufficient Conditions for Robust Perfect Tracking under Variable Structure Control},
	journal = {International Journal of Robust and Nonlinear Control},
	volume = {13},
	number = {2},
	year = {2003},
	month = {02/2003},
	pages = {141-151},
	abstract = {<p>The tracking control of linear MIMO systems with structured uncertainty is considered. A necessary and sufficient condition for robust asymptotic tracking employing variable structure techniques in the presence of multiplicative uncertainty is derived. The constructive proof of the theorem provides an explicit formula for controller synthesis.</p>
},
	keywords = {Embedded Control, Robotics},
	author = {A. Balluchi and A. Bicchi}
}
@conference {BB97,
	title = {Necessary and Sufficient Dominance Conditions for Robust Decentralization of VS Tracking Control},
	booktitle = {Proc. European Control Conference},
	year = {1997},
	keywords = {Hybrid and Embedded Control Systems, Nonlinear Control Systems},
	author = {A. Balluchi and A. Bicchi}
}
