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IEEE Transactions on Automatic Control > 2010 > 55 > 4 > 855 - 867
IEEE Systems Journal > 2010 > 4 > 1 > 112 - 121
IEEE Transactions on Automatic Control > 2010 > 55 > 4 > 855 - 867
IEEE Systems Journal > 2010 > 4 > 1 > 112 - 121