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Emel’yanov, S.V., Korovin, S.K. & Shepit’ko, A.S. Stabilization of bilinear systems on the plane by constant and relay controls. Diff Equat 36, 1131–1138 (2000). https://doi.org/10.1007/BF02754180
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DOI: https://doi.org/10.1007/BF02754180