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IEEE Transactions on Control Systems Technology > 2011 > 19 > 4 > 832 - 842
Proceedings of SICE Annual Conference 2010 > 390 - 391
IEEE Transactions on Industrial Electronics > 2010 > 57 > 8 > 2815 - 2825
IEEE Transactions on Robotics > 2009 > 25 > 3 > 481 - 491
SICE 2004 Annual Conference > 1 > 933 - 938 vol. 1