Miroslav Zima Leopoldo Armesto Vicent Girbés Antonio Sala 0001 Václav Smídl Extended Rauch-Tung-Striebel controller. 2900-2905 2013 CDC https://doi.org/10.1109/CDC.2013.6760324 conf/cdc/2013 db/conf/cdc/cdc2013.html#ZimaAGSS13