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Doyle, John and Mabuchi, Hideo (2002) A new physics. In: IEEE Conference on Decision and Control, 41st, (CDC 2002), Las Vegas, NV, 10-13 December 2002. Vol.4. IEEE , Piscataway, NJ, pp. 4555-4558. ISBN 0-7803-7516-5. https://resolver.caltech.edu/CaltechAUTHORS:DOYcdc02

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