@article{KYB_2002_38_5_a2,
     author = {Kraffer, Ferdinand and Zagalak, Petr},
     title = {Parametrization and reliable extraction of proper compensators},
     journal = {Kybernetika},
     pages = {521--540},
     year = {2002},
     volume = {38},
     number = {5},
     mrnumber = {1966943},
     zbl = {1265.93122},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/KYB_2002_38_5_a2/}
}