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Mathematical Background:

, In: Algebraic and Differential Methods for Nonlinear Control Theory; Mathematical and Analytical Techniques with Applications to Engineering,
Martínez-Guerra, Rafael ; Martínez-Fuentes, Oscar ; Montesinos-García, Juan Javier - p. 1-17 , 2019
Link: https://doi.org/10.1007/978-3-030-12025-2_1