F. Miranda, B. Brogliato, and F. Castaños, Multivalued robust tracking control of Lagrange systems: Continuous and discrete-time algorithms, IEEE Trans. Autom. Control, vol.62, pp.4436-4450, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01254303

, bernard.brogliato@inria.fr ? Automatic Control Department, vol.38334, 2508.