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IEEE Transactions on Automatic Control > 2017 > 62 > 5 > 2589 - 2596
IEEE Transactions on Automatic Control > 2010 > 55 > 9 > 2182 - 2186
IEEE Transactions on Automatic Control > 2007 > 52 > 9 > 1543 - 1559
IEEE Transactions on Automatic Control > 1999 > 44 > 1 > 89 - 94