@article{IFBS1:05,
        author={G. A. Ingram and M. A. Franchek and V. Balakrishnan and G. Surnilla},
	title={Robust SISO ${\bf H}_\infty$ Controller Design for
        Nonlinear Systems},
  journal = {Control Engineering Practice ({IFAC})},
  volume=13,
  number=11,
  pages={1413-1423},
  month=nov,
  year=2005
}