I have seen it claimed online that:
Given two groups $G = \langle X \mid R \rangle$ and $H = \langle Y \mid S \rangle$ with some action $\phi\colon H \to \text{Aut}(G)$, then $$ G\rtimes_\phi H \;=\; \langle X, Y \mid R,\,S,\,yxy^{-1}=\phi(y)(x)\text{ for all }x\in X\text{ and }y\in Y\rangle. $$
Specifically I have seen it on stack exchange, and on group props, however neither of these sources have a proof, or any references.
I have searched all over for a references to a book or paper, however I have yet to find any.
To be more clear: I am looking for proof that the group formed by the semidirect product $G\rtimes_\phi H$ is isomorphic to the group given by the presentation $$\langle X, Y \mid R,\,S,\,yxy^{-1}=\phi(y)(x)\text{ for all }x\in X\text{ and }y\in Y\rangle.$$
Does anyone have any ideas? Thanks!