@article {koumboulis2001robust,
	title = {Robust triangular decoupling with simultaneous robust disturbance rejection},
	journal = {International Journal of Systems Science},
	volume = {32},
	number = {9},
	year = {2001},
	pages = {1127{\textendash}1137},
	publisher = {Taylor \& Francis},
	author = {Fotis N. Koumboulis and Skarpetis, Michael G}
}
