Semi-global stabilization of linear discrete-time systems subject to input saturation via linear feedback : an ARE-based approach. Lin, Z., Saberi, A., & Stoorvogel, A. A. 1994.
bibtex   
@article{3035,
  author = {Zongli Lin and Ali Saberi and Anton A. Stoorvogel},
  title = {Semi-global stabilization of linear discrete-time systems subject to input saturation via linear feedback : an ARE-based approach},
  year = {1994}
}

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