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@article{TUW-109198,
    author = {Weinmann, Alexander},
    title = {Stability Margin Gradients and Robustification of Control Systems Based on Transfer Matrices},
    journal = {International Journal Automation Austria (IJAA)},
    year = {2005},
    volume = {13},
    number = {2},
    pages = {37--49},
    url = {http://www.acin.tuwien.ac.at/IJAA/index.htm}
}