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A general algorithm for evaluating the normalised integral-square-error criterion of controllability is presented as a function of the parameters of a feedback control system. Pure time delays are incorporated as Pade polynomial approximations and a matrix solution of the integral using Gaussian elimination avoids the need for standard integral tables.doi:10.1093/comjnl/12.3.273 fatcat:pgu42tdkhzg4zae7vho55jdcfq