Semiglobal stabilization of linear discrete-time systems subject to input saturation, via linear feedback-an ARE-based approach. Lin, Z., Saberi, A., & Stoorvogel, A. A. 1996.
bibtex   
@article{2596,
  author = {Zongli Lin and Ali Saberi and Anton A. Stoorvogel},
  title = {Semiglobal stabilization of linear discrete-time systems subject to input saturation, via linear feedback-an ARE-based approach},
  year = {1996}
}

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