Simon Baev Yuri B. Shtessel Ilya A. Shkolnikov Nonminimum-phase output tracking in causal systems using higher order sliding modes. 4546-4551 2007 ACC https://doi.org/10.1109/ACC.2007.4282351 conf/amcc/2007 db/conf/amcc/acc2007.html#BaevSS07