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IEEE Transactions on Robotics > 2015 > 31 > 3 > 521 - 535
IEEE Transactions on Control Systems Technology > 2016 > 24 > 2 > 475 - 486
IEEE Transactions on Systems, Man, and Cybernetics: Systems > 2013 > 43 > 3 > 708 - 723
IEEE Transactions on Control Systems Technology > 2012 > 20 > 6 > 1522 - 1532