@Article{ liberzon00nonlinear,
  author = 	 {Daniel Liberzon and Roger Brockett},
  title = 	 {Nonlinear Feedback Systems Perturbed by Noise: Steady-State Probability Distributions and Optimal Control},
  journal = 	 {IEEE Transactions on Automatic Control},
  year = 	 {2000},
  number = 	 {45},
  pages = 	 {1116--1130},
  month = 	 {June},
}