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Giuseppe Della Penna, Benedetto Intrigila, Daniele Magazzeni, Igor Melatti, and Enrico Tronci. "CGMurphi: Automatic synthesis of numerical controllers for nonlinear hybrid systems."
European Journal of Control
19, no. 1 (2013): 14–36. Elsevier North-Holland, Inc.. ISSN: 0947-3580. DOI:
10.1016/j.ejcon.2013.02.001
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