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IEEE Transactions on Industrial Electronics > 2014 > 61 > 12 > 6556 - 6565
IEEE Transactions on Automation Science and Engineering > 2011 > 8 > 2 > 420 - 423
IEEE Transactions on Robotics > 2011 > 27 > 2 > 268 - 282
IEEE Transactions on Industrial Electronics > 2011 > 58 > 6 > 2226 - 2235