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Shorten, R.N. and Narendra, K.S. (2002) Necessary and Sufficient Conditions for the Existence of a Common Quadratic Lyapunov Function for a Finite Number of Stable Second Order Linear Time-Invariant Systems. International Journal of Adaptive Control and Signal Processing, 16, 709-728.
http://dx.doi.org/10.1002/acs.719

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