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IET Control Theory & Applications > 2011 > 5 > 1 > 164 - 172
IET Control Theory & Applications > 2010 > 4 > 10 > 2129 - 2140
IEEE Transactions on Robotics > 2009 > 25 > 6 > 1304 - 1318
IEEE/ASME Transactions on Mechatronics > 2009 > 14 > 1 > 55 - 63
IEEE Transactions on Industrial Electronics > 2009 > 56 > 5 > 1595 - 1603
IEEE Transactions on Industrial Electronics > 2009 > 56 > 9 > 3646 - 3655
IEEE Transactions on Industrial Electronics > 2008 > 55 > 9 > 3290 - 3299
Proceedings of the 2004 American Control Conference > 5 > 4126 - 4138 vol.5