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@InBook{salgado_goodwin:ControlHandbook:2011,
      AUTHOR = {Salgado, M.E. and Goodwin, G.C.},
      TITLE = {Architectural Issues in Control System Design},
      YEAR = {2011},
      BOOKTITLE = {The Control Handbook},
      EDITOR = {Levine, W.S.},
      PUBLISHER = {CRC Press},
      EDITION = {2nd}
}