Optimal controller design by nonlinear and game theoretic methods, Hämäläinen Raimo P., in: Acta Polytechnica Scandinavica, Mathematics and Computer Science Series No. 28. (1976), issn 0355-2713, isbn 951-666-086-X
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论文评审过程：Available online 10 July 2006.
论文官网地址：https://doi.org/10.1016/S0377-0427(77)80025-3
