@article {koumboulis2011step,
	title = {Step-wise safe switching control of a constant turning force system},
	journal = {International Journal of Modelling, Identification and Control},
	volume = {12},
	number = {3},
	year = {2011},
	pages = {191{\textendash}199},
	publisher = {Inderscience Publishers},
	author = {Fotis N. Koumboulis and Tzamtzi, Maria P and Economakos, Christoforos E}
}
