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Doyle, John C. and Glover, Keith and Khargonekar, Pramod P. et al. (1989) State-space solutions to standard H2 and H∞ control problems. IEEE Transactions on Automatic Control, 34 (8). pp. 831-847. ISSN 0018-9286. http://resolver.caltech.edu/CaltechAUTHORS:DOYieeetac89

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