@PHDTHESIS{ist:durr15a,
  author = {D{\"u}rr, H. B.},
  title = {Constrained Extremum Seeking: A Lie bracket and Singular Perturbation
	Approach},
  school = {Institute for Systems Theory and Automatic Control, University of
	Stuttgart},
  year = {2015},
  address = {Stuttgart, Germany}
}

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