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IEEE Transactions on Automatic Control > 2016 > 61 > 9 > 2473 - 2483
2015 54th IEEE Conference on Decision and Control (CDC) > 2164 - 2168
IEEE Transactions on Automatic Control > 2012 > 57 > 1 > 238 - 243
2007 46th IEEE Conference on Decision and Control > 1033 - 1038