Matching and digital control implementation for underactuated systems. - Fedor Andreev; David Auckly; Lev Kapitanski; Atul G. Kelkar; Warren N. White (ACC, 2000)

Matching, linear systems, and the ball and beam. - Fedor Andreev; David Auckly; Shekhar V. Gosavi; Lev Kapitanski; Atul G. Kelkar; Warren N. White (Autom., 2002)

On the Lambda-Equations for Matching Control Laws. - David Auckly; Lev Kapitanski (SIAM J. Control. Optim., 2002)