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A MULTIVARIABLE STABILITY MARGIN IN THE PRESENCE OF TIME-VA..:

AMATO, F. ; CORLESS, M. ; MATTEI, M..
International Journal of Robust and Nonlinear Control.  7 (1997)  2 - p. 127-143 , 1997
Link: https://doi.org/10.1002/(sici)1099-1239(199702)7:2<127..