Convexity of Optimal Linear Controller Design. Dvijotham, K.; Theodorou, E.; Todorov, E.; and Fazel, M. In 52nd IEEE Conference on Decision and Control. IEEE.
bibtex   
@inproceedings{dvijothamconvexity,
  title={Convexity of Optimal Linear Controller Design},
  author={Dvijotham, Krishnamurthy and Theodorou, Evangelos and Todorov, Emanuel and Fazel, Maryam},
  booktitle={52nd IEEE Conference on Decision and Control},
  organization={IEEE},
	PDF={http://ieeexplore.ieee.org/document/6760252/?reload=true&arnumber=6760252}
}
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