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IEEE Transactions on Industrial Electronics > 2009 > 56 > 9 > 3514 - 3522
IEEE Transactions on Control Systems Technology > 2008 > 16 > 3 > 499 - 510
IEEE Transactions on Industrial Electronics > 2008 > 55 > 11 > 4055 - 4064
Proceedings of the 2004 American Control Conference > 1 > 620 - 625 vol.1