“…See, for instance, Draper and Li (1951), Jacobs and Langdon (1970), Keviczsky and Haber (1974), Keviczsky et al (1979), Sternby (1980a), Sternby (1980b), Dumont and Åström (1988), Wellstead and Scotson (1990), Scotson and Wellstead (1990), Wittenmark (1993), Allison (1994), Wittenmark and Urquhart (1995), Navarro and Zarrop (1996), Krstić and Wang (1997), Krstić and Wang (2000), and Gäfvert et al (2000). In many of the earlier references the static optimization problem has mainly been discussed and it is only recently in the work by Krstić and coworkers that the problem with stability in the case of dynamics has been solved for some cases.…”