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Nguyen, Tony B. ; Pai, M. A. (2008) A sensitivity-based approach for studying stability impact of distributed generation International Journal of Electrical Power & Energy Systems, 30 (8). pp. 442-446. ISSN 0142-0615

Chaniotis, D. ; Pai, M. A. (2005) Model reduction in power systems using Krylov subspace methods IEEE Transactions on Power Systems, 20 (2). pp. 888-894. ISSN 0885-8950

Soman, S. A. ; Nguyen, T. B. ; Pai, M. A. ; Vaidyanathan, R. (2004) Analysis of angle stability problems: a transmission protection systems perspective IEEE Transactions on Power Delivery, 19 (3). pp. 1024-1033. ISSN 0885-8977

Nguyen, T. B. ; Pai, M. A. (2003) Dynamic security-constrained rescheduling of power systems using trajectory sensitivities IEEE Transactions on Power Systems, 18 (2). pp. 848-854. ISSN 0885-8950

Chaniotis, D. ; Pai, M. A. (2003) A new preconditioning technique for the GMRES algorithm in power flow and P-V curve calculations International Journal of Electrical Power & Energy Systems, 25 (3). pp. 239-245. ISSN 0142-0615

Nguyen, T. B. ; Pai, M. A. ; Hiskens, I. A. (2002) Sensitivity approaches for direct computation of critical parameters in a power system International Journal of Electrical Power & Energy Systems, 24 (5). pp. 337-343. ISSN 0142-0615

Hiskens, I. A. ; Pai, M. A. (2002) Power system applications of trajectory sensitivities Proceedings of IEEE PES 2000 Summer Meeting, Seattle,WA, 2 . pp. 1200-1205.

Donde, V. ; Pai, M. A. ; Hiskens, I. A. (2001) Simulation and optimization in an AGC system after deregulation IEEE Transactions on Power Systems, 16 (3). pp. 481-489. ISSN 0885-8950

Chaniotis, D. ; Pai, M. A. ; Hiskens, I. (2001) Sensitivity analysis of differential-algebraic systems using the GMRES method-application to power systems Proceedings of IEEE International symposiumon Circuits and systems, Australia, 2 . pp. 117-120.

Kulkarni, A. Y. ; Pai, M. A. ; Sauer, P. W. (2001) Iterative solver techniques in fast dynamic calculations of power systems International Journal of Electrical Power & Energy Systems, 23 (3). pp. 237-244. ISSN 0142-0615

Hiskens, I. A. ; Pai, M. A. (2000) Trajectory sensitivity analysis of hybrid systems IEEE Transactions on Circuits and Systems Part I: Regular Papers, 47 (2). pp. 204-220. ISSN 1057-7122

Nguyen, T. B. ; Pai, M. A. ; Hiskens, I. A. (2000) Direct computation of critical clearing time using trajectory sensitivities Proceedings of IEEE PES 2000 Summer Meeting, Seattle,WA, 1 . pp. 604-608.

Hiskens, I. A. ; Pai, M. A. (2000) Hybrid systems view of power system modelling Proceedings of International symposium of circuits and Systems, Geneva, Switzerland, 2 . pp. 228-231.

Chaniotis, D. ; Pai, M. A. (2000) Iterative solver techniques in the dynamic simulation of power systems Proceedings of 34th IEEE Conference on Decision and Control, San Diego, CA, 1 . pp. 609-613.

Vournas, C. D. ; Manos, G. A. ; Sauer, P. W. ; Pai, M. A. (1999) Effect of overexcitation limiters on power system long-term modeling IEEE Transactions on Energy Conversion, 14 (4). pp. 1529-1536. ISSN 0885-8969

Lesieutre, B. C. ; Sauer, P. w. ; Pai, M. A. (1999) Existence of solutions for the network/load equations in power systems IEEE Transactions on Circuits and Systems Part I: Fundamental Theory and Applications, 46 (8). pp. 1003-1011. ISSN 1057-7122

Laufenberg, M. J. ; Pai, M. A. (1998) A new approach to dynamic security assessment using trajectory sensitivities IEEE Transactions on Power Systems, 13 (3). pp. 953-958. ISSN 0885-8950

Khutoryansky, E. ; Pai, M. A. (1997) Parametric robust stability of power systems using generalized Kharitonov's theorem Proceedings of 34th IEEE Conference on Decision and Control, San Diego, CA, 4 . pp. 3097-3099.

Pai, M. A. ; Dag, H. (1997) Iterative solver techniques in large scale power system computation Proceedings of 34th IEEE Conference on Decision and Control, San Diego, CA, 4 . pp. 3861-3866.

Laufenberg, Mark J. ; Pai, M. A. ; Padiyar, K. R. (1997) Hopf bifurcation control in power systems with static var compensators International Journal of Electrical Power & Energy Systems, 19 (5). pp. 339-347. ISSN 0142-0615

Pai, M. A. (1997) Small signal stability in power system analysis Electrical Engineering . pp. 51-57. ISSN 0020-3386

Pai, M. A. ; Vournas, C. D. ; Michel, A. N. ; Ye, H. (1997) Applications of interval matrices in power system stabilizer design International Journal of Electrical Power & Energy Systems, 19 (3). pp. 179-184. ISSN 0142-0615

Vournas, C. D. ; Sauer, P. W. ; Pai, M. A. (1996) Relationships between voltage and angle stability of power systems International Journal of Electrical Power & Energy Systems, 18 (8). pp. 493-500. ISSN 0142-0615

Vournas, C. D. ; Pai, M. A. ; Sauer, P. W. (1996) The effect of automatic voltage regulation on the bifurcation evolution in power systems IEEE Transactions on Power Systems, 11 (4). pp. 1683-1688. ISSN 0885-8950

Laufenberg, M. J. ; Pai, M. A. (1996) Sensitivity theory in power systems: application in dynamic security analysis Proceedings of IEEE Conference on Control Applications, Dearborn, MI . pp. 738-743.

Pai, M. A. ; Laufenberg, M. ; Sauer, P. W. (1996) Some clarifications in the transient energy function method International Journal of Electrical Power & Energy Systems, 18 (1). pp. 65-72. ISSN 0142-0615

Vournas, C. D. ; Sauer, P. W. ; Pai, M. A. (1995) Time-scale decomposition in voltage stability analysis of power systems Proceedings of IEEE Conference on Decision and Control, New Orleans, LA, 4 . pp. 3459-3464.

Pai, M. A. ; Sauer, P. W. ; Lesieutre, B. C. (1995) Static and dynamic nonlinear loads and structural stability in power systems Proceedings of the IEEE, 83 (11). pp. 1562-1572. ISSN 0018-9219

Pai, M. A. ; Kulkarni, A. Y. (1995) A simulation tool for transient stability analysis suitable for parallel computation Proceedings of the 4th IEEE Conference on Control Applications, Albany, NY . pp. 1010-1013.

Pai, M. A. ; Sauer, P. W. ; Lesieutre, B. C. ; Adapa, R. (1995) Structural stability in power systems-effect of load models IEEE Transactions on Power Systems, 10 (2). pp. 609-615. ISSN 0885-8950

Pai, M. A. ; Laufenberg, M. (1995) On the computation of heteroclinic orbits in dynamical systems Proceedings of International Symposium Circuits and Systems, Seattle, WA, 1 . pp. 151-154.

Pai, M. A. ; Sauer, P. W. ; Kulkarni, A. Y. (1995) A preconditioned iterative solver for dynamic simulation of power systems Proceedings of the International Symposium Circuits and Systems, Seattle, WA, 2 . pp. 1279-1282.

Lesieutre, B. C. ; Sauer, P. W. ; Pai, A. (1995) Development and comparative study of induction machine based dynamic P, Q load models IEEE Transactions on Power Systems, 10 (1). pp. 182-191. ISSN 0885-8950

Pai, M. A. ; Ranjan, R. K. ; Sauer, P. W. (1994) Robust stability in power systems with nonlinear loads using generalized Kharitonov's theorem International Journal of Electrical Power & Energy Systems, 16 (5). pp. 321-328. ISSN 0142-0615

Ranjan, Rajeev K. ; Pai, M. A. ; Sauer, P. W. (1993) Analytical formulation of small signal stability analysis of power systems with nonlinear load models Sadhana (Academy Proceedings in Engineering Sciences), 18 (5). pp. 869-889. ISSN 0256-2499

Sauer, P. W. ; Lesieutre, B. C. ; Pai, M. A. (1993) Maximum loadability and voltage stability in power systems International Journal of Electrical Power & Energy Systems, 15 (3). pp. 145-153. ISSN 0142-0615

Sauer, P. W. ; Lesieutre, B. C. ; Pai, M. A. (1993) Transient algebraic circuits for power system dynamic modelling International Journal of Electrical Power & Energy Systems, 15 (5). pp. 315-321. ISSN 0142-0615

Rajagopalan, C. ; Lesieutre, B. C. ; Sauer, P. W. ; Pai, M. A. (1992) Dynamic aspects of voltage/power characteristics [multimachine power systems] IEEE Transactions on Power Systems, 7 (3). pp. 990-1000. ISSN 0885-8950

Pai, M. A. ; Sauer, P. W. ; Kulkarni, A. Y. (1992) Conjugate gradient approach to parallel processing in dynamic simulation of power systems Proceedings of American Control Conference . pp. 1644-1647.

Overbye, T. J. ; Pai, M. A. ; Sauer, P. W. (1992) A composite framework for synchronous and voltage stability in power systems Proceedings of IEEE International Symposium on Circuits and Systems, 92CH3139-3, San Diego, CA, 5 . pp. 2541-2544.

Kulkarni, A. ; Pai, M. A. ; Ghoshal, S. K. (1992) Parallel computation of power system dynamics using multistep methods International Journal of Electrical Power & Energy Systems, 14 (1). pp. 33-38. ISSN 0142-0615

Overbye, T. J. ; Pai, M. A. ; Sauer, P. W. (1992) Some aspects of the energy function approach to angle and voltage stability analysis in power systems Proceedings of the 31st IEEE Conference on Decision and Control, 92CH3229-2, Tucson, AZ, 3 . pp. 2941-2946.

Pai, M. A. ; Sauer, P. W. ; Dobraca, F. (1991) A new trajectory approximation technique for transient stability studies International Journal of Electrical Power & Energy Systems, 13 (5). pp. 249-254. ISSN 0142-0615

Sauer, P. W. ; Rajagopalan, C. ; Pai, M. A. (1991) An explanation and generalization of the AESOPS and PEALS algorithms [power system models] IEEE Transactions on Power Systems, 6 (1). pp. 293-299. ISSN 0885-8950

Sterling, Jennifer ; Pai, M. A. ; Sauer, P. W. (1991) A methodology of secure and optimal operation of a power system for dynamic contingencies Electric Machines and Power Systems, 19 (5). pp. 639-655. ISSN 0731-356X

Sauer, P. W. ; Pai, M. A. (1990) Power system steady-state stability and the load-flow Jacobian IEEE Transactions on Power Systems, 5 (4). pp. 1374-1383. ISSN 0885-8950

Pai, M. A. ; Ghoshal, S. K. ; Kulkarni, A. (1990) A predictor corrector algorithm in the parallel solution of power system dynamics Proceedings of the North American Power Systems Symposium, Auburn, AL . pp. 118-125.

Dobraca, F. ; Pai, M. A. ; Sauer, P. W. (1990) Relay margins as a tool for dynamical security analysis International Journal of Electrical Power & Energy Systems, 12 (4). pp. 226-234. ISSN 0142-0615

Sauer, P. W. ; Evans Jr., R. J. ; Pai, M. A. (1990) Maximum unconstrained loadability of power systems Proceedings of IEEE International Symposium on Circuits and Systems New Orleans, LA, 3 . pp. 1818-1821.

Pai, M. A. ; Kulkarni, A. ; Sauer, P. W. (1990) Parallel dynamic simulation of power systems Proceedings of the International Symposium on Circuits and Systems, 90 CH 2868-8, New Orleans, LA (2). pp. 1264-1267.

Chow, J. H. ; Winkelman, J. R. ; Pai, M. A. ; Sauer, P. W. (1990) Singular perturbation analysis of large-scale power systems International Journal of Electrical Power & Energy Systems, 12 (2). pp. 117-126. ISSN 0142-0615

Rajagopalan, C. ; Sauer, P. W. ; Pai, M. A. (1989) Analysis of voltage control systems exhibiting Hopf bifurcation Proceedings of 28th IEEE Conference on Decision and Control, Tampa, FL, 1 . pp. 332-335.

Pai, M. A. ; Sauer, P. W. (1989) A framework for application of generalized Kharitonov's theorem in the robust stability analysis of power systems Proceedings of 28th IEEE Conference on Decision and Control, Tampa, FL, 2 . pp. 1818-1821.

O'Grady, M. G. ; Pai, M. A. (1989) Analysis of voltage collapse in power systems Proceedings of the 21st Annual North American Power Symposium, University of Missouri-Rolla . pp. 151-160.

Varghese, A. ; Sauer, P. W. ; Pai, M. A. (1989) Synchronous machine block diagram analysis with fast dynamics International Journal of Electrical Power & Energy Systems, 11 (4). pp. 239-247. ISSN 0142-0615

Rajagopalan, C. ; Sauer, P. W. ; Pai, M. A. (1989) An integrated approach to dynamic and static voltage stability Proceedings of American Control Conference, Pittsburgh, PA . pp. 1231-1236.

Sauer, P. W. ; Behera, A. K. ; Pai, M. A. ; Winkelman, J. R. ; Chow, J. H. (1989) Trajectory approximations for direct energy methods that use sustained faults with detailed power system models IEEE Transactions on Power Systems, 4 (2). pp. 499-506. ISSN 0885-8950

Pai, M. A. ; Sauer, P. W. (1989) Stability analysis of power systems by Lyapunov's direct method IEEE Control Systems Magazine, 9 (1). pp. 23-27. ISSN 0272-1708

Pai, M. A. ; O'Grady, M. G. (1989) Voltage collapse analysis with reactive generation and voltage dependent load constraints Electric Machines and Power Systems, 17 (6). pp. 379-390. ISSN 0731-356X

Pai, M. A. ; Sauer, P. W. ; Dobraca, F. (1988) A new approach to transient stability evaluation in power systems Proceedings of 27th IEEE Conference on Decision and Control, Austin, TX . pp. 676-680.

Khorasani, K. ; Pai, M. A. (1988) Two time scale decomposition and stability analysis of power systems IEE Proceedings - Part D: Control Theory & Applications, 135 (3). pp. 205-212. ISSN 0143-7054

Sauer, Peter W. ; Behera, Anup K. ; Pai, M. A. ; Winkelman, James R. ; Chow, Joe H. (1988) A direct method for transient stability analysis of power systems with detailed models Electric Machines and Power Systems, 15 (1). pp. 1-15. ISSN 0731-356X

Pai, M. A. ; Othman, T. ; Sauer, P. W. ; Chow, J. H. ; Winkelman, J. R. (1987) Application of integral manifold theory in large scale power system stability analysis Proceedings of 26th IEEE Conference on Decision and Control Los Angeles, CA . pp. 41-44.

Ilic-Spong, M. ; Crow, M. L. ; Pai, M. A. (1987) Transient stability simulation by waveform relaxation methods IEEE Transactions on Power Systems, 2 (4). pp. 943-949. ISSN 0885-8950

Othman, H. A. ; Pai, M. A. ; Chow, J. H. (1987) Decoupled energies in two time scale linear systems Proceedings of American Control Conference, Seattle, WA . pp. 1627-1633.

Sauer, P. W. ; LaGesse, D. J. ; Ahmed-Zaid, S. ; Pai, M. A. (1987) Reduced order modeling of interconnected multimachine power systems using time-scale decomposition IEEE Transactions on Power Systems, 2 (2). pp. 310-319. ISSN 0885-8950

Othman, H. A. ; Pai, M. A. ; Chow, J. H. (1987) Block diagonalization for decoupling energies of power systems with weakly connected areas Large Scale Systems in Information and Decision Technologies, 12 (1). pp. 23-33. ISSN 0167-420X

Chow, J. H. ; Winkelman, J. R. ; Pai, M. A. ; Sauer, P. W. (1986) Model reduction and energy function analysis of power systems using singular perturbation techniques Proceedings - IEEE Conference on Decision and Control . pp. 1206-1211. ISSN 0191-2216

Khorasani, K. ; Pai, M. A. ; Sauer, P. W. (1986) Modal based stability analysis of power systems using energy functions International Journal of Electrical Power & Energy Systems, 8 (1). pp. 11-16. ISSN 0142-0615

Behera, Anup K. ; Pai, M. A. ; Sauer, P. W. (1985) Analytical approaches to determine critical clearing time in multi-machine power systems Proceedings of 24th IEEE Conference on Decision and Control, Ft. Lauderdale, FL . pp. 818-823. ISSN 0191-2216

Khorasani, K. ; Pai, M. A. (1985) Asymptotic stability of nonlinear singularly perturbed systems using higher order corrections Automatica, 21 (6). pp. 717-727. ISSN 0005-1098

Khorasani, K. ; Pai, M. (1985) Asymptotic stability improvements of multiparameter nonlinear singularly perturbed systems IEEE Transactions on Automatic Control, 30 (8). pp. 802-804. ISSN 0018-9286

Chow, J. H. ; Winkelman, J. R. ; Pai, M. A. ; Sauer, P. W. (1985) Application of singular perturbations theory to power system modeling and stability analysis Proceedings of American Control Conference, Boston, MA . pp. 1401-1407.

Sauer, P. W. ; Ahmed-Zaid, S. ; Pai, M. A. (1984) Nonlinear decoupling in a class of quadratic two time scale systems with applications to synchronous machine models Proceedings of 23rd IEEE Conference on Decision and Control, Las Vegas . pp. 481-484.

Pai, M. A. ; Sauer, P. W. ; Khorasani, K. (1984) Singular perturbations and large scale power system stability Proceedings of American Control Conference, Boston, MA . pp. 173-178.

Pai, M. A. ; Adgaonkar, R. P. (1984) Electromechanical distance measure for decomposition of power systems International Journal of Electrical Power & Energy Systems, 6 (4). pp. 249-254. ISSN 0142-0615

Sauer, P. W. ; Ahmed-Zaid, S. ; Pai, M. A. (1984) Systematic inclusion of stator transients in reduced order synchronous machine models IEEE Transactions on Power Apparatus and Systems, PAS-103 (6). pp. 1348-1354. ISSN 0018-9510

Pai, M. A. (1984) Survey of practical direct methods of stability analysis in power systems Electric Machines and Power Systems, 9 (2-3). pp. 131-143. ISSN 0731-356X

Sauer, P. W. ; Demaree, K. D. ; Pai, M. A. (1983) Stability limited load supply and interchange capability IEEE Transactions on Power Apparatus and Systems, PAS-102 (11). pp. 3637-3643. ISSN 0018-9510

Pai, M. A. ; Vittal, V. (1983) Multimachine stability analysis using vector Lyapunov functions with inertial-centre decomposition International Journal of Electrical Power & Energy Systems, 5 (3). pp. 139-144. ISSN 0142-0615

Sauer, P. W. ; Hajj, I. N. ; Pai, M. A. ; Trick, T. N. (1983) Computer methods in electric network analysis IEEE Transactions on Power Apparatus and Systems, PAS-102 (6). pp. 1726-1731. ISSN 0018-9510

Ahmed-Zaid, S. ; Sauer, P. ; Pai, M. ; Sarioglu, M. (1982) Reduced order modeling of synchronous machines using singular perturbation IEEE Transactions on Circuits and Systems, 29 (11). pp. 782-786. ISSN 0098-4094

Pai, M. A. ; Adgaonkar, R. P. (1981) Singular perturbation analysis of nonlinear transients in power systems Proceedings - IEEE Conference on Decision and Control . pp. 221-222. ISSN 0191-2216

Pai, M. A. ; Padiya, K. R. ; Radhakrishna, C. (1981) Transient stability analysis of multi-machine AC/DC power systems via energy-function method IEEE Transactions on Power Apparatus and Systems, PAS-100 (12). pp. 5027-5035. ISSN 0018-9510

Padiyar, K. R. ; Pai, M. A. ; Radhakrishna, C. (1981) A versatile system model for the dynamic stability analysis of power systems including HVDC links IEEE Transactions on Power Apparatus and Systems, PAS-100 (4). pp. 1871-1880. ISSN 0018-9510

Padiyar, K. R. ; Prabhu, S. S. ; Pai, M. A. ; Gomathi, K. (1980) Design of stabilizers by pole assignment with output feedback International Journal of Electrical Power & Energy Systems, 2 (3). pp. 140-146. ISSN 0142-0615

Aggarwal, R. P. ; Arumugam, N. ; Pai, M. A. (1980) Load-flow solution by Newton-Richardson method and its adaptation to optimal load dispatch International Journal of Electrical Power & Energy Systems, 2 (3). pp. 129-132. ISSN 0142-0615

Pai, M. A. (1978) Power crisis-challenges and response I.E.E. - I.E.R.E. Proceedings - India, 16 (2). pp. 51-59. ISSN 0018-9146

Pai, M. A. ; Varwandkar, S. D. (1977) Use of pole-shifting technique for improving power-system transient-stability regions Proceedings of the Institution of Electrical Engineers (London), 124 (8). pp. 734-736. ISSN 0020-3270

Girijashankar, P. V. ; Srikantiah, G. ; Pai, M. A. (1976) Dynamic simulation of a boiling water nuclear reactor Annals of Nuclear Energy, 3 (2-3). pp. 133-145. ISSN 0306-4549

Girija Shankar, P. V. ; Srikantiah, G. ; Pai, M. A. (1976) Optimal control of a boiling water nuclear reactor Annals of Nuclear Energy, 3 (11-12). pp. 531-538. ISSN 0306-4549

Pai, M. A. ; Prabhu, S. S. ; Ramana, I. V. (1975) Modal control of a power system International Journal of Systems Science, 6 (1). pp. 87-100. ISSN 0020-7721

Pai, M. A. ; Jegatheesan, R. (1974) Transient-stability study using diakoptic model Proceedings of the Institution of Electrical Engineers, 121 (6). pp. 516-517. ISSN 0020-3270

Pai, M. A. ; Rai, Vishwanatha (1974) Lyapunov-Popov stability analysis of synchronous machine with flux decay and voltage regulator International Journal of Control, 19 (4). pp. 817-829. ISSN 0020-7179

Pai, M. A. ; Murthy, P. G. (1974) New Lyapunov functions for power systems based on minimal realizations International Journal of Control, 19 (2). pp. 401-415. ISSN 0020-7179

Pai, M. ; Murthy, P. (1973) On Lyapunov functions for power systems with transfer conductances IEEE Transactions on Automatic Control, 18 (2). pp. 181-183. ISSN 0018-9286

Varadarajan, M. S. ; Pai, M. A. (1973) Periodic oscillations in feedback systems with combined pulse modulation International Journal of Control, 17 (1). pp. 57-63. ISSN 0020-7179

Kesavan, H. K. ; Pai, M. A. ; Bhat, M. V. (1972) Piecewise solution of the load-flow problem IEEE Transactions on Power Apparatus and Systems, PAS-91 (4). pp. 1382-1386. ISSN 0018-9510

Pai, M. A. ; Ganesan, K. (1971) Relative stability of load frequency control systems IEEE Transactions on Power Apparatus and Systems, PAS-90 (6). pp. 2734-2741. ISSN 0018-9510

Varadarajan, M. S. ; Pai, M. A. (1971) Analysis of feedback systems with combined pulse modulation International Journal of Control, 14 (3). pp. 465-475. ISSN 0020-7179

Varadarajan, M. S. ; Pai, M. A. (1971) Periodic oscillations in integral pulse frequency-modulated feedback systems International Journal of Control, 14 (6). pp. 1175-1181. ISSN 0020-7179

Pai, M. A. ; Mohan, M. A. ; Rao, J. G. (1970) Power system transient stability: regions using Popov's method IEEE Transactions on Power Apparatus and Systems, PAS-89 (5). pp. 788-794. ISSN 0018-9510

Pai, M. A. (1969) Combined pulse-modulation scheme for feedback systems IEE Electronics Letters, 5 (18). pp. 436-438. ISSN 0013-5194

Pai, M. (1962) The operational solution of difference-differential equations using the modified z transform IRE Transactions on Automatic Control, 7 (5). pp. 124-125. ISSN 0096-199X

Jury, E. ; Pai, M. (1962) Convolution z-transform method applied to certain nonlinear discrete systems IRE Transactions on Automatic Control, 7 (1). pp. 57-64. ISSN 0096-199X

Jury, E. I. ; Pai, M. A. (1961) On the summation of ∑^∞_n=0f_n/n_k and its associated integrals Journal of the Franklin Institute, 271 (2). pp. 79-93. ISSN 0016-0032

Anantha Pai, M. ; Saunders, R. M. (1959) Synchronous-mackine design using a digital computer IEEE Transactions on Power Apparatus and Systems, 78 (3). pp. 28-34. ISSN 0018-9510