?url_ver=Z39.88-2004&rft_id=10.1109%2FTAC.2008.2010992&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.aulast=Ferrara&rft.aufirst=Antonella&rft.au=Ferrara%2C+Antonella&rft.date=May+2009&rft.title=IEEE+Transactions+on+Automatic+Control+&rft.atitle=A+sub-optimal+second+order+sliding+mode+controller+for+systems+with+saturating+actuators&rft.issue=5&rft.pages=1082+-1087&rft.volume=54&rft.issn=0018-9286&rft.genre=article