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MR609265 (82i:93033b) 93B55 (14M15 93C35 93D15)
Brockett, Roger W.; Byrnes, Christopher I. Multivariable Nyquist criteria, root loci, and pole placement: a geometric viewpoint. IEEE Trans. Automat. Control 26 (1981), no. 1, 271--284.
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