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A less conservative approach to handle time‐varying paramet..:

Palma, Jonathan M. ; Morais, Cecília F. ; Oliveira, Ricardo C. L. F.
International Journal of Robust and Nonlinear Control.  30 (2020)  9 - p. 3521-3546 , 2020
Link: https://doi.org/10.1002/rnc.4942