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IEEE Transactions on Automatic Control > 2010 > 55 > 3 > 708 - 714
IEEE Transactions on Intelligent Transportation Systems > 2009 > 10 > 1 > 31 - 41
IEEE Transactions on Automatic Control > 2008 > 53 > 8 > 1901 - 1912
SICE 2004 Annual Conference > 3 > 2086 - 2091 vol. 3