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IEEE Transactions on Industrial Informatics > 2009 > 5 > 4 > 507
IEEE Transactions on Automatic Control > 2008 > 53 > 1 > 428 - 434
IEEE Transactions on Automatic Control > 2007 > 52 > 10 > 1842 - 1855
IEEE Transactions on Automatic Control > 2007 > 52 > 10 > 1959 - 1963