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- 2006
- Relaxing dynamic programming
- 2004
- The Jitter Margin and Its Application in the Design of Real-Time Control Systems
- A novel method for voltage stability control in power systems
- Simple Stability Criteria for Systems with Time-Varying Delays
- 2003
- Jitterbug - Reference Manual
- How Does Control Timing Affect Performance?
- Dynamic Programming and Time-Varying Delay Systems
- Relaxed Optimal Control of Piecewise Linear Systems
- 2002
- Jitterbug and TrueTime: Analysis Tools for Real-Time Control Systems
- LQR Optimization of Linear System Switching