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Lu, Wei-Min and Doyle, John C. (1995) H∞ control of nonlinear systems: a convex characterization. IEEE Transactions on Automatic Control, 40 (9). pp. 1668-1675. ISSN 0018-9286. doi:10.1109/9.412643. https://resolver.caltech.edu/CaltechAUTHORS:LUWieeetac95

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