@article {koumboulis2000robust,
	title = {Robust triangular decoupling via output feedback},
	journal = {Journal of the Franklin Institute},
	volume = {337},
	number = {1},
	year = {2000},
	pages = {11{\textendash}20},
	publisher = {Elsevier},
	author = {Fotis N. Koumboulis and Skarpetis, Michael G}
}
