@article{Bal:97,
   author    = {V. Balakrishnan},
   title     = {{${\bf H}_\infty$} Controller Synthesis with Time-Domain
       Constraints},
   journal   = {IEEE Trans. Aut. Contr.},
   year      = 1997,
   month     = aug ,
   volume    = 42,
   number    = 8,
   pages     = {1179-1186}
}