@Article{brockett03pattern,
  author = 	 {Roger W. Brockett},
  title = 	 {Pattern Generation and the Control of Nonlinear Systems},
  journal = 	 {IEEE Tran. Automat. Contr.},
  year = 	 {2003},
  volume = 	 {48},
  pages = 	 {1699-1711},
  month = 	 {Oct.}
}