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Proof of convergence of primal penalty function algorithm -- sections II, IIA and appendices of
"A unifying passivity framework for network flow control" - Wen, J.T.; Arcak, M.
IEEE Transactions on Automatic Control, Volume 49, Issue 2, Feb. 2004 Page(s): 162 - 174
http://ieeexplore.ieee.org/Xplore/login.jsp?url=/iel5/9/28335/01266772.pdf
(viewable from Caltech machines, go through
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otherwise)

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Slides (David), 10/3/07  download , sample code

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