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IEEE Transactions on Control Systems Technology > 2008 > 16 > 3 > 548 - 555
IEEE Transactions on Control Systems Technology > 2007 > 15 > 5 > 891 - 905
IEEE Transactions on Robotics > 2006 > 22 > 6 > 1131 - 1145
IEEE Transactions on Robotics > 2006 > 22 > 2 > 269 - 281
Proceedings of the 2004 American Control Conference > 6 > 5244 - 5249 vol.6