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Becker, Carolyn L. and Doyle, John (1999) A necessary and sufficient minimality condition for uncertain systems. IEEE Transactions on Automatic Control, 44 (10). pp. 1802-1813. ISSN 0018-9286. doi:10.1109/9.793720. https://resolver.caltech.edu/CaltechAUTHORS:BECieeetac99

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