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Full-state feedback LQR with integral gain for control of i..:

Zarghoon, Sohaibullah ; Emebu, Samuel ; Matušů, Radek...
Engineering Science and Technology, an International Journal.  55 (2024)  - p. 101721 , 2024
Link: https://doi.org/10.1016/j.jestch.2024.101721