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He earned a first class honours degree in mathematics in 1953 followed by a PhD at University College London in 1956. After graduating, he married Margaret Bellingham and together they raised three children. His first job after university was junior fellow at the Royal Aircraft Establishment. He followed this by a series of visiting lecturer and professor positions at Imperial College London, Stanford University, Princeton University, and the University of Wisconsin–Madison, before settling in as a professor of Systems Engineering at Lancaster University in 1965. His initial work concerned discrete time domain models for chemical engineering a

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University of Wisconsin

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