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IEEE Transactions on Control Systems Technology > 2015 > 23 > 4 > 1294 - 1306
IEEE Transactions on Robotics > 2015 > 31 > 2 > 246 - 258
IEEE Transactions on Control Systems Technology > 2013 > 21 > 5 > 1537 - 1548
IEEE Transactions on Robotics > 2010 > 26 > 5 > 769 - 780