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Martins, Nuno C. and Dahleh, Munther A. and Doyle, John C. (2007) Fundamental Limitations of Disturbance Attenuation in the Presence of Side Information. IEEE Transactions on Automatic Control, 52 (1). pp. 56-66. ISSN 0018-9286. doi:10.1109/TAC.2006.887898. https://resolver.caltech.edu/CaltechAUTHORS:MARieeetac07

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