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IEEE Transactions on Automatic Control > 2009 > 54 > 9 > 2222 - 2225
IEEE Transactions on Control Systems Technology > 2008 > 16 > 6 > 1218 - 1231
IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) > 2008 > 38 > 4 > 994 - 1001