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Krishchenko, A.P., Panfilov, D.Y. & Tkachev, S.B. Global Stabilization of Affine Systems via Virtual Outputs. Differential Equations 39, 1585–1592 (2003). https://doi.org/10.1023/B:DIEQ.0000019350.64971.68
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DOI: https://doi.org/10.1023/B:DIEQ.0000019350.64971.68