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IEEE Transactions on Automatic Control > 2009 > 54 > 12 > 2853 - 2859
IEEE Transactions on Automatic Control > 2008 > 53 > 3 > 655 - 667
IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) > 2008 > 38 > 4 > 1166 - 1175
Proceedings of the 2004 American Control Conference > 6 > 4963 - 4965 vol.6