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This paper was supported by ONR Contract 1141(12) and NSF Grant no. GK 1394.
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Mesarović, M.D. Auxiliary functions and constructive specification of general systems. Math. Systems Theory 2, 203–222 (1968). https://doi.org/10.1007/BF01694006
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DOI: https://doi.org/10.1007/BF01694006