@article {koumboulis2000robust,
	title = {Robust triangular decoupling with application to 4WS cars},
	journal = {IEEE Transactions on Automatic Control},
	volume = {45},
	number = {2},
	year = {2000},
	pages = {344{\textendash}352},
	publisher = {IEEE},
	author = {Fotis N. Koumboulis and Skarpetis, Michael G}
}
