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N. H. E1-Farra, P. Mhaskar and P. D. Christofides, “Out put Feedback Control of Switched Nonlinear Systems Us ing Multiple Lyapunov Functions,” Systems & Control Letters, Vol. 54, No. 12, 2005, pp. 1163-1182. doi:10.1016/j.sysconle.2005.04.005

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