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Krishchenko, A.P., Panfilov, D.Y. & Tkachev, S.B. The Construction of Minimal Phase Affine Systems. Differential Equations 38, 1574–1580 (2002). https://doi.org/10.1023/A:1023632804428
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DOI: https://doi.org/10.1023/A:1023632804428