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The construction of the desired controller involves solving the full-order algebraic Riccati equation with small parameter \\(\\varepsilon\\). Under control-oriented assumptions, first one provides sufficient conditions such that the full-order algebraic Riccati equation has a positive semi-definite stabilizing solution. Next, one proposes an iterative method based on the Kleinman algorithm to solve the algebraic Riccati equation which depends on the parameter \\(\\varepsilon\\). The new idea is to use the solutions to the reduced-order algebraic Riccati equations for the initial condition. By using the iterative algorithm, it is easy to obtain a required solution to the algebraic Riccati equation. 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