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4. Guzmán Sánchez, J.L., Costa-Castelló, R., Berenguel Soria, M., and Dormido , S. (2012). Control au-tomático con herramientas interactivas. Pearson. ISBN: 9788483227503.
5. Lewis, A. (2004). A Mathematical Approach to Classical Control. Single-input, single-output, time-invariant, continuous time, finite-dimensional, deterministic, linear systems, chapter Chapter 9. Design limitations for feedback control. available online.