LQG optimal control for multirate samled-data systems. Colaneri, P., Scattolini, R., & Schiavoni, N. IEEE Transactions on Automatic Control, 37(5):675-682, 1992.
bibtex   
@Article{Colaneri92,
  Title                    = {{LQG} optimal control for multirate samled-data systems},
  Author                   = {P. Colaneri and R. Scattolini and N. Schiavoni},
  Journal                  = {IEEE Transactions on Automatic Control},
  Year                     = {1992},
  Number                   = {5},
  Pages                    = {675-682},
  Volume                   = {37}
}

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