@article {2001, title = {Extremal synthesis for generic planar systems}, journal = {J. Dynam. Control Systems, 2001, 7, 209}, number = {SISSA;45/00/M}, year = {2001}, publisher = {SISSA Library}, doi = {10.1023/A:1013003204923}, url = {http://hdl.handle.net/1963/1503}, author = {Ugo Boscain and Benedetto Piccoli} }