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@InBook{goodwin_salgado:1991,
      AUTHOR = {Goodwin, G.C. and Salgado, M.E.},
      TITLE = {Unified Continuous and Discrete Time LQG Theory},
      YEAR = {1991},
      BOOKTITLE = {Mathematical Systems Theory: The Influence of R.E. Kalman},
      EDITOR = {Antoulas, A.C.},
      PUBLISHER = {Springer Verlag},
      CHAPTER = {3}
}