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Murray, Richard M. and Waydo, Stephen and Cremean, Lars B. et al. (2004) A new approach to teaching feedback. IEEE Control Systems Magazine, 24 (5). pp. 38-42. ISSN 0272-1708. doi:10.1109/MCS.2004.1337856. https://resolver.caltech.edu/CaltechAUTHORS:MURieeecsm04

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