Geodesic
Hierarchical sliding mode control for a class of SIMO under-actuated systems
Control and Cybernetics, Tome 37 (2008) no. 1, pp. 159-175 
Qian, Dianwei; Yi, Jianqiang; Zhao, Dongbin. Hierarchical sliding mode control for a class of SIMO under-actuated systems. Control and Cybernetics, Tome 37 (2008) no. 1, pp. 159-175. http://geodesic.mathdoc.fr/item/CC_2008_37_1_a7/
@article{CC_2008_37_1_a7,
     author = {Qian, Dianwei and Yi, Jianqiang and Zhao, Dongbin},
     title = {Hierarchical sliding mode control for a class of {SIMO} under-actuated systems},
     journal = {Control and Cybernetics},
     pages = {159--175},
     year = {2008},
     volume = {37},
     number = {1},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/CC_2008_37_1_a7/}
}
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