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Borukhov, V.T., Gaishun, I.V. Reducibility of Single-Input Linear Piecewise Smooth Systems to Hessenberg and Frobenius Forms. Differential Equations 37, 472–478 (2001). https://doi.org/10.1023/A:1019219304994
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DOI: https://doi.org/10.1023/A:1019219304994