Source: https://www.researchgate.net/profile/Benchouia_Nedjem_Eddine2/publication/274567206_Synthese_d'une_loi_de_commande_pour_la_stabilisation_des_systemes_non_lineaires_resultats_et_discussions/links/5522da990cf29dcabb0edd37/Synthese-dune-loi-de-commande-pour-la-stabilisation-des-systemes-non-lineaires-resultats-et-discussions.pdf