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IEEE Transactions on Robotics > 2010 > 26 > 4 > 733 - 742
2009 Chinese Control and Decision Conference > 441 - 444
IET Control Theory & Applications > 2009 > 3 > 1 > 136 - 150
IEEE Transactions on Industrial Electronics > 2009 > 56 > 9 > 3602 - 3608
2008 Chinese Control and Decision Conference > 5064 - 5068