Frédéric Mazenc, Silviu-Iulian Niculescu, Mounir Bekaïk. Backstepping for nonlinear systems with delay in the input revisited.
SIAM Journal on Control and Optimization, Society for Industrial and Applied Mathematics, 2011, 49 (6), pp.2263-2278.
⟨10.1137/100819023⟩.
⟨hal-00664348⟩