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Korobov, V.I., Sklyar, G.M. & Florinskii, V.V. A Minimal Polynomial for Finding the Switching Instants and the Support Vector of the Controllability Domain. Differential Equations 38, 15–18 (2002). https://doi.org/10.1023/A:1014839122917
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DOI: https://doi.org/10.1023/A:1014839122917