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Lu, Wei-Min and Doyle, John C. (1994) ℋ∞ control of nonlinear systems via output feedback: controller parameterization. IEEE Transactions on Automatic Control, 39 (12). pp. 2517-2521. ISSN 0018-9286. http://resolver.caltech.edu/CaltechAUTHORS:LUWieeetac94

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