Toshinori Nawata and  Hitoshi Takata,  An Augmented Automatic Choosing Control Designed by Extremizing a Combination of Hamiltonian and Lyapunov Functions for Nonlinear Systems with Constrained Input.   journal   = {International Journal of Computer and Information Engineering}, [online]. World Academy of Science, Engineering and Technology.
    February 2007, vol. 2(2). 312 - 317
    [viewed 24 April 2024]. Available from: https://publications.waset.org/pdf/15710.