Geodesic
The standard $H_\infty$-optimal control problem with a quadratic performance functional of general form
Differencialʹnye uravneniâ, Tome 35 (1999) no. 5, pp. 606-616.

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     author = {N. E. Barabanov},
     title = {The standard $H_\infty$-optimal control problem with a quadratic performance functional of general form},
     journal = {Differencialʹnye uravneni\^a},
     pages = {606--616},
     publisher = {mathdoc},
     volume = {35},
     number = {5},
     year = {1999},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DE_1999_35_5_a3/}
}
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N. E. Barabanov. The standard $H_\infty$-optimal control problem with a quadratic performance functional of general form. Differencialʹnye uravneniâ, Tome 35 (1999) no. 5, pp. 606-616. http://geodesic.mathdoc.fr/item/DE_1999_35_5_a3/