@article{silva_khatib_fleming_2006,  title={Nonlinear control system design using variable complexity modelling and multiobjective optimization},  volume={17},  ISSN={0103-1759},  url={https://doi.org/10.1590/S0103-17592006000100003},  DOI={10.1590/S0103-17592006000100003},  number={1},  journal={Sba: Controle & Automação Sociedade Brasileira de Automatica},  publisher={Sociedade Brasileira de Automática},  author={Silva, Valceres V. R. E and Khatib, Wael and Fleming, Peter J.},  year={2006},  month={Jan},  pages={24–31} }