@article{aninversionbasedlearningapproachfor,
  title = {An Inversion-Based Learning Approach for Improving Impromptu Trajectory Tracking of Robots with Non-Minimum Phase Dynamics},
  author = {Siqi Zhou and Mohamed K. Helwa and Angela P. Schoellig},
  year = {2017},
  eprint = {1709.04407},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1709.04407v2},
}