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IEEE Transactions on Automatic Control > 2008 > 53 > 11 > 2680 - 2685
IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) > 2008 > 38 > 4 > 994 - 1001
Proceedings of the 2004 American Control Conference > 1 > 584 - 589 vol.1