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IEEE Transactions on Industrial Electronics > 2016 > 63 > 12 > 7607 - 7620
IEEE Transactions on Industrial Electronics > 2015 > 62 > 9 > 5799 - 5806
IEEE/ASME Transactions on Mechatronics > 2014 > 19 > 1 > 289 - 299
IEEE Transactions on Robotics > 2008 > 24 > 2 > 430 - 441
2007 IEEE Industry Applications Annual Meeting > 256 - 261