M. Fikar, On Minimum Degree Finite Length Control Error Problem, Technical Report MF9901, Control Engineering Laboratory, FEE, Ruhr-University Bochum, 1999.

This report discusses a control problem when the the control error should be zero as fast as possible and also afterwards. This corresponds to requirement the the control error is a polynomial of the smallest degree. Open loop and feedback configuration was done by Ku\v{c}era, the two degree of freedom controller derivation is believed to be original.