Piecewise Riccati equations and the bounded real lemma
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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
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Helton, J. W., & Zhan, W.
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Nonlinear H Infinity Control
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Piecewise Linear Systems
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http://dx.doi.org/10.1002/(sici)1099-1239(199708)7:8%3C741::aid-rnc211%3E3.0.co;2-n
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