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Campo, Peter J. and Morari, Mafred (1994) Achievable closed-loop properties of systems under decentralized control: conditions involving the steady-state gain. IEEE Transactions on Automatic Control, 39 (5). pp. 932-943. ISSN 0018-9286. doi:10.1109/9.284869. https://resolver.caltech.edu/CaltechAUTHORS:CAMieeetac94

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