@article {egerstedt02feedback,
    AUTHOR = {Egerstedt, Magnus B. and Brockett, Roger W.},
     TITLE = {Feedback Can Reduce the Specification Complexity of Motor
              Programs},
   JOURNAL = {IEEE Trans. Automat. Control},
  FJOURNAL = {Institute of Electrical and Electronics Engineers.
              Transactions on Automatic Control},
    VOLUME = {48},
      YEAR = {2003},
    NUMBER = {2},
     PAGES = {213--223},
      ISSN = {0018-9286},
     CODEN = {IETAA9}
}