@article{article9010228c,
title   = {Multivarible robust control with time-domain specifications: servo and regulator problems},
author = {Leonardi, Fabrizio and Cruz, José Jaime da and Bittar, Anselmo},
year = {2007},
doi = {10.1007/s00202-006-0026-2},
journal   = {Electrical Engineering}
}