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Fan, Michael K. H. and Tits, André L. and Doyle, John C. (1991) Robustness in the presence of mixed parametric uncertainty and unmodeled dynamics. IEEE Transactions on Automatic Control, 36 (1). pp. 25-38. ISSN 0018-9286. doi:10.1109/9.62265. https://resolver.caltech.edu/CaltechAUTHORS:FANieeetac91

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