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IEEE Transactions on Control Systems Technology > 2010 > 18 > 1 > 230 - 237
IEEE Transactions on Automatic Control > 2010 > 55 > 7 > 1519 - 1530
IEEE Transactions on Robotics > 2009 > 25 > 5 > 1176 - 1184
IEEE Transactions on Control Systems Technology > 2009 > 17 > 5 > 1173 - 1182
2008 47th IEEE Conference on Decision and Control > 2270 - 2275
IEEE Transactions on Robotics > 2008 > 24 > 6 > 1457 - 1462