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E. J. Cramer, Dennis, J. E., Frank, P. D., Lewis, R. M., and Shubin, G. R., Problem Formulation for Multidisciplinary Optimization, {SIAM} Journal on Optimization, vol. 4. pp. 754–776, 1994.
S. F. Arroyo, Cramer, E. J., Dennis, J. E., and Frank, P. D., Problem Formulations for Systems of Systems, Proceedings of the 2005 IEEE International Conference on Systems, Man and Cybernetics. pp. 64–71, 2005.