@article{TUW-187083, author = {Kiefer, Thomas and Graichen, Knut and Kugi, Andreas}, title = {Trajectory Tracking of a 3DOF Laboratory Helicopter Under Input and State Constraints}, journal = {IEEE Transactions on Control Systems Technology}, year = {2010}, volume = {18}, number = {4}, pages = {944--952}, doi = {10.1109/TCST.2009.2028877} }