@article{BaW:99,
  author =	 {V. Balakrishnan and F. Wang},
  title =	 {Efficient Computation of a Guaranteed Lower Bound on
                  the Robust Stability Margin for a Class of Uncertain
                  Systems},
  journal =	 {IEEE Trans.\ Aut.\ Control}
  year =	 1999,
  month =	 nov,
  volume =	 {AC-44},
  number =	 11,
  pages =	 {2185-2190}
}