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IEEE Transactions on Industrial Electronics > 2009 > 56 > 9 > 3296 - 3304
IEEE Transactions on Robotics > 2009 > 25 > 2 > 325 - 339
IET Control Theory & Applications > 2009 > 3 > 6 > 701 - 711
Proceedings of the 2004 American Control Conference > 6 > 5268 - 5273 vol.6