Feedback and Optimal Sensitivity: Model Reference Transformations, Multiplicative Seminorms, and Approximate Inverses

"Feedback and Optimal Sensitivity: Model Reference Transformations, Multiplicative Seminorms, and Approximate Inverses"

IEEE Transactions on Automatic Control, vol. 26, no. 2, pp. 301-320, April 1981, doi: 10.1109/TAC.1981.1102603.