“…Most research which is so far interested in control or observer synthesis using the minimal GD-IK model is based on linearization of this model, see (Percival et al, 2008), (Magni et al, 2007), (Hariri and Wang, 2011), (González and Femat, 2011), (Parker et al, 1999), (Bergman et al, 1979), (L Kovcs, 2007) and references therein. More recent work on the same theme can be found in (Eberle and Ament, 2012) and (Villafaa-Rojas et al, 2013).…”