Machado, J. Tenreiro; Lopes, António M.; Valério, Duarte; Galhano, Alexandra M.: 'Solved Problems in Dynamical Systems and Control' (Control, Robotics and Sensors, 2016) DOI: IET Digital Library, https://digital-library.theiet.org/;jsessionid=2rdpn8n3jph4v.x-iet-live-01content/books/ce/pbce107e