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IEEE/ASME Transactions on Mechatronics > 2013 > 18 > 2 > 439 - 448
IEEE Transactions on Control Systems Technology > 2011 > 19 > 2 > 407 - 415
IEEE Transactions on Robotics > 2009 > 25 > 2 > 340 - 352
IEEE Transactions on Control Systems Technology > 2008 > 16 > 4 > 745 - 752