@article {2002,
	title = {Following a path of varying curvature as an output regulation problem},
	journal = {IEEE Trans. Automatic Control 47 (2002) 1551-1556},
	year = {2002},
	publisher = {IEEE},
	abstract = {Given a path of nonconstant curvature, local asymptotic stability can be proven for the general n trailer whenever the curvature can be considered as the output of an exogenous dynamical system. The controllers that provide convergence to zero of the tracking error chosen for the path-following problem are composed of a prefeedback that input-output linearizes the system, plus a linear controller.},
	doi = {10.1109/TAC.2002.802750},
	url = {http://hdl.handle.net/1963/3143},
	author = {Claudio Altafini}
}
