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IEEE Transactions on Automatic Control > 2013 > 58 > 3 > 773 - 778
IEEE Transactions on Automatic Control > 2013 > 58 > 2 > 481 - 487
IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) > 2009 > 39 > 2 > 306 - 317
01982 American Control Conference > 1982 > 1099 - 1101