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Simultaneous triangular-decoupling, disturbance-rejection a..:

, In: Analysis and Optimization of Systems: State and Frequency Domain Approaches for Infinite-Dimensional Systems; Lecture Notes in Control and Information Sciences,
Otsuka, Naohisa ; Inaba, Hiroshi ; Toraichi, Kazuo - p. 290-301 ,
Link: https://doi.org/10.1007/bfb0115030