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Skogestad, Sigurd and Morari, Manfred and Doyle, John C. (1988) Robust control of ill-conditioned plants: high-purity distillation. IEEE Transactions on Automatic Control, 33 (12). pp. 1092-1105. ISSN 0018-9286. doi:10.1109/9.14431. https://resolver.caltech.edu/CaltechAUTHORS:SKOieeetac88

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