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IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) > 2010 > 40 > 2 > 505 - 516
Proceedings of the 2004 American Control Conference > 5 > 4800 - 4805 vol.5
Proceedings of the 2004 American Control Conference > 6 > 5218 - 5219 vol.6
SICE 2004 Annual Conference > 1 > 214 - 219 vol. 1