1. Balas, G., Chiang, R., Packard, A., Safonov, M., 2016. Robust Control Toolbox: User’s Guide (R2016a). Mathworks.
2. Balas, G.J., 2009. Mixed-μ software (unpublished version). Private communication.
3. Balchen, J., Jenssen, N.A., Sælid, S., 1976. Dynamic positioning using Kalman filtering and optimal control theory. In: The IFAC/IFIP Symposium on Automation in Offshore Oil Field Operation, Bergen, Norway, pp. 183–186.
4. A dynamic positioning system based on Kalman filtering and optimal control;Balchen;Model. Identif. Control,1980
5. Donha, D., Katebi, M.R., Grimble, M.J., 1997. Nonlinear ship positioning system design using an H∞ controller. In: Proceedings of ECC'97 – European Control Conference, Brussels, Belgium.