Morten Hovd Richard D. Braatz Sigurd Skogestad SVD controllers for H<sub>2-</sub>, H<sub>∞-</sub> and μ-optimal control. 433-439 1997 33 Automatica 3 http://dx.doi.org/10.1016/S0005-1098(96)00167-7 db/journals/automatica/automatica33.html#HovdBS97