?url_ver=Z39.88-2004&rft_id=10.1109%2FICACC.2009.111&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.aulast=Sumantri&rft.au=Sumantri%2C+B.&rft.aufirst=B.&rft.isbn=9780769535166&rft.title=Input-output+exact+feedback+linearization+for+depth+positioning+of+spherical+URV&rft.date=2009&rft.genre=proceeding