Hoover, D.Longchamp, R.Rosenthal, J.2004-11-262004-11-262004-11-26200410.1016/j.automatica.2003.09.003https://infoscience.epfl.ch/handle/20.500.14299/176636WOS:0001869235000164474Discrete-time controlNon-minimum phase systemsOptimalityZero assignmentTwo-degree-of-freedom controllersTrajectory trackingPreview controlTwo-Degree-of-Freedom l2-Optimal Tracking with Previewtext::journal::journal article::research article