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IEEE Transactions on Control Systems Technology > 2016 > 24 > 2 > 727 - 732
IEEE ICCA 2010 > 731 - 738
IEEE Transactions on Robotics > 2009 > 25 > 2 > 451 - 458
IEEE Transactions on Robotics > 2009 > 25 > 5 > 1058 - 1073
IEEE Transactions on Control Systems Technology > 2008 > 16 > 4 > 589 - 599