@incollection{BaT:95,
   author    = {V. Balakrishnan and A. Tits},
   title     = {Numerical Optimization-based Design},
   booktitle = {Chapter 47, The Control Handbook},
   year      = {1996},
   editor    = {W. Levine},
   publisher = {CRC Press},
   pages     = {749-758}
}