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Prajna, Stephen and Parrilo, Pablo A. and Rantzer, Anders (2004) Nonlinear control synthesis by convex optimization. IEEE Transactions on Automatic Control, 49 (2). pp. 310-314. ISSN 0018-9286. doi:10.1109/TAC.2003.823000. https://resolver.caltech.edu/CaltechAUTHORS:PRAieeetac04

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