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@Article{glaeal93,
      AUTHOR = {Glaria, J. and Goodwin, G.C. and Rojas R., Ricardo and Salgado, M.E.},
      TITLE = {Iterative algorithm for robust performance optimization},
      YEAR = {1993},
      JOURNAL = {International Journal of Control},
      VOLUME = {57},
      NUMBER = {4},
      PAGES = {799-815},
      URL = {http://dx.doi.org/10.1080/00207179308934414 },
      NOTE = {ISI}
}