Method of Quasi-Optimal Synthesis Using InvariantsAndrey Aleksandrovich Kostoglotov, Sergey Valerievich Lazarenko, Anton Aleksandrovich Kuznetcov and Zoya Vladimirovna LyashchenkoMATEC Web Conf., 77 (2016) 15003DOI: https://doi.org/10.1051/matecconf/20167715003