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IEEE Transactions on Industrial Electronics > 2017 > 64 > 1 > 459 - 469
IEEE Transactions on Automatic Control > 2011 > 56 > 1 > 72 - 87
IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) > 2008 > 38 > 3 > 721 - 730
Proceedings of the 2004 American Control Conference > 5 > 4177 - 4182 vol.5