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Smith, Roy S. and Doyle, John C. (1992) Model validation: a connection between robust control and identification. IEEE Transactions on Automatic Control, 37 (7). pp. 942-952. ISSN 0018-9286. doi:10.1109/9.148346. https://resolver.caltech.edu/CaltechAUTHORS:SMIieeetac92

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