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M. Yue, C. K. Tse, T. Kousaka and H. Kawakami, “Connecting Border Collision with Saddle-Node in Switched Dynamical Systems,” IEEE Transactions on Circuits and Systems II: Express Briefs, Vol. 52, No. 9, 2005, pp. 581-585. doi:10.1109/TCSII.2005.850488

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