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IEEE Transactions on Signal Processing > 2011 > 59 > 1 > 373 - 385
IEEE Transactions on Automatic Control > 2010 > 55 > 9 > 2043 - 2057
IEEE Transactions on Automatic Control > 2010 > 55 > 9 > 2094 - 2105
IEEE Transactions on Automatic Control > 2010 > 55 > 9 > 2165 - 2169