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S. Katayama, K. Yubai and J. Hirai, “Iterative design of the reduced order weight and controller for the H∞ loop shaping method under open loop magnitude constraints for SISO systems,” IEEE Transactions on Industry Electronics, Vol. 56, 2009, pp. 3854-3863. doi:10.1109/TIE. 2009.2017099

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