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IEEE Transactions on Automatic Control > 2009 > 54 > 4 > 855 - 861
IEEE Transactions on Automatic Control > 2009 > 54 > 6 > 1382 - 1385
IEEE Transactions on Automatic Control > 2009 > 54 > 6 > 1391 - 1395
SICE 2004 Annual Conference > 3 > 2367 - 2370 vol. 3