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IEEE Transactions on Automatic Control > 2011 > 56 > 2 > 358 - 369
IEEE Transactions on Automatic Control > 2010 > 55 > 2 > 304 - 320
IEEE Transactions on Industrial Electronics > 2009 > 56 > 9 > 3743 - 3750
IEEE Transactions on Automatic Control > 2009 > 54 > 9 > 2271 - 2275
IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) > 2008 > 38 > 4 > 994 - 1001