Ulf Holmberg Piotr Myszkorowski Yves Piguet Roland Longchamp On compensation of nonminimum-phase zeros. 1433-1441 1995 31 Automatica 10 http://dx.doi.org/10.1016/0005-1098(95)00041-T db/journals/automatica/automatica31.html#HolmbergMPL95