@article{COCV_1999__4__1_0,
     author = {Morin, Pascal and Samson, Claude},
     title = {Exponential stabilization of nonlinear driftless systems with robustness to unmodeled dynamics},
     journal = {ESAIM: Control, Optimisation and Calculus of Variations},
     pages = {1--35},
     publisher = {EDP-Sciences},
     volume = {4},
     year = {1999},
     mrnumber = {1680693},
     zbl = {0919.93059},
     language = {en},
     url = {http://archive.numdam.org/item/COCV_1999__4__1_0/}
}