Formation control as a classical decentralized multivariable problem: Performance, robustness, cross-coupling and perturbation rejection. - Luis Antonio Amezquita-Brooks; Luis G. Takano De La Cruz; Octavio Garcia-Salazar; Francisco Villareal-Valderrama; Carlos Santana-Delgado; Diana Hernandez-Alcantara (J. Frankl. Inst., 2023)