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Primbs, James A. and Gianelli, Monica (2001) Kuhn-Tucker-based stability conditions for systems with saturation. IEEE Transactions on Automatic Control, 46 (10). pp. 1643-1647. ISSN 0018-9286. doi:10.1109/9.956065. https://resolver.caltech.edu/CaltechAUTHORS:PRIieeetac01

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