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IEEE Transactions on Robotics > 2011 > 27 > 1 > 175 - 183
Proceedings of SICE Annual Conference 2010 > 2411 - 2418
IEEE Transactions on Control Systems Technology > 2009 > 17 > 1 > 207 - 214
IEEE Transactions on Industrial Electronics > 2009 > 56 > 3 > 846 - 855