@incollection{XUPS_1999____1_0,
     author = {Martin, Philippe and Rouchon, Pierre},
     title = {Syst\`emes plats~:  planification et suivi de trajectoires},
     booktitle = {Aspects de la th\'eorie du contr\^ole},
     series = {Journ\'ees math\'ematiques X-UPS},
     pages = {1--126},
     publisher = {Les \'Editions de l{\textquoteright}\'Ecole polytechnique},
     year = {1999},
     doi = {10.5802/xups.1999-01},
     language = {fr},
     url = {http://archive.numdam.org/articles/10.5802/xups.1999-01/}
}