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Francis, Bruce A. and Doyle, John C. (1987) Linear Control Theory with an ℋ∞ Optimality Criterion. SIAM Journal on Control and Optimization, 25 (4). pp. 815-844. ISSN 0363-0129. doi:10.1137/0325046. https://resolver.caltech.edu/CaltechAUTHORS:FRAsiamjco87

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