Brogliato, Bernard Dissipative systems analysis and control Theory and applications by Bernard Brogliato,Rogelio Lozano and Bernhard Maschke - London Springer 2007 http://dx.doi.org/10.1007/978-1-84628-517-2 ISBN: 9781846285172 Dewey Class. No.: 629.8312 / (e-book)