@ARTICLE{kwakernaak1972maximally,
  author = {Kwakernaak, Huibert and Sivan, Raphael},
  title = {The maximally achievable accuracy of linear optimal regulators and
	linear optimal filters},
  journal = {IEEE Transactions on Automatic Control},
  year = {1972},
  volume = {17},
  pages = {79--86},
  number = {1},
  publisher = {IEEE}
}

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