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IEEE Transactions on Industrial Electronics > 2011 > 58 > 2 > 436 - 443
ICCAS 2010 > 900 - 905
IEEE Transactions on Robotics > 2009 > 25 > 6 > 1304 - 1318
IEEE Transactions on Control Systems Technology > 2008 > 16 > 2 > 304 - 313