@ARTICLE{9384174, author={D. {Bruder} and X. {Fu} and R. {Vasudevan}}, journal={IEEE Robotics and Automation Letters}, title={Advantages of Bilinear Koopman Realizations for the Modeling and Control of Systems With Unknown Dynamics}, year={2021}, volume={6}, number={3}, pages={4369-4376}, doi={10.1109/LRA.2021.3068117}}