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IEEE Transactions on Automatic Control > 2017 > 62 > 12 > 6568 - 6574
IEEE Transactions on Automatic Control > 2016 > 61 > 9 > 2531 - 2537
IEEE Transactions on Robotics > 2015 > 31 > 3 > 682 - 698
IEEE Transactions on Automatic Control > 2016 > 61 > 2 > 520 - 525
IEEE Transactions on Automatic Control > 2011 > 56 > 3 > 686 - 692