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Exact Instability Margin Analysis and Minimum-Norm Strong S..:

Hara, Shinji ; Kao, Chung-Yao ; Khong, Sei Zhen..
IEEE Transactions on Automatic Control.  69 (2024)  4 - p. 2084-2099 , 2024
Link: https://doi.org/10.1109/tac.2023.3324263