Dambrauskas, A., B. Karaliūnas, and D. Šulskis. “Algorithmic Synthesis of Control Systems With Changeable Structure”. Elektronika Ir Elektrotechnika, vol. 71, no. 7, Aug. 2006, pp. 47-50, https://eejournal.ktu.lt/index.php/elt/article/view/10770.