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Polyak, B.T. and Shcherbakov, P.S. (1999) Numerical Search of Stable or Unstable Element in Matrix or Polynomial Families: A Unified Approach to Robustness Analysis and Stabilization. Robustness in Identification and Control Lecture Notes in Control and Information Sciences, 254, 344-358.
http://dx.doi.org/10.1007/BFb0109879

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