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[1] Moler, C. B., Numerical Computing with MATLAB, Philadelphia, Society for Industrial and Applied Mathematics, 2004, chapter 7

[2] Horowitz, P., and Hill, W., The Art of Electronics, 2nd Ed., Cambridge, Cambridge University Press, 1989, chapter 2

[3] Brogan, W. L., Modern Control Theory, 2nd Ed., Englewood Cliffs, New Jersey, Prentice-Hall, 1985

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