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IEEE Transactions on Automatic Control > 2011 > 56 > 6 > 1452 - 1457
IEEE Transactions on Automatic Control > 2009 > 54 > 8 > 1966 - 1972
IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) > 2008 > 38 > 2 > 510 - 527