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A. Weinmann:
"Control Systems Design Driven by Worst-Initional Emergency Sensitivity";
Cybernetics and Systems, 34 (2003), 8; 591 - 615.

The sensitivity of time-weighted indices of performance
with respect to the controller matrix is derived and
included for stepwise system design.
The dependence on initial conditions is excluded by using a
selected worst-case per-unit condition.
A phobia effect is observed and used for preserving stability
during the system design process.

The sensitivity expressions are also utilized for adaptation in order
to smoothen chaotic motion in nonlinear control.

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