@incollection{BaB2:92,
   author    = {V. Balakrishnan and S. Boyd},
   title     = {Global Optimization in Control System Analysis and Design},
   booktitle = {Control and Dynamic Systems: {A}dvances in Theory and
       Applications},
   year      = {1992},
   editor    = {C.T. Leondes},
   publisher = {Academic Press},
   address   = {New York, New York},
   volume    = 53 
}