Departmental Papers (ESE)

Document Type

Journal Article

Subject Area

GRASP, Kodlab

Date of this Version

January 1985


Copyright 1985 IEEE. Reprinted from IEEE Transactions on Automatic Control, Volume AC-30, Issue 1, January 1985, pages 87-89.

This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to By choosing to view this document, you agree to all provisions of the copyright laws protecting it.

NOTE: At the time of publication, the author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member of the School of Engineering at the University of Pennsylvania.


planar bilinear systems



Date Posted: 03 April 2008

This document has been peer reviewed.