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IEEE Transactions on Automatic Control > 2013 > 58 > 1 > 242 - 246
IEEE Transactions on Automatic Control > 2010 > 55 > 1 > 137 - 142
IEEE Transactions on Automatic Control > 2009 > 54 > 5 > 1042 - 1047
IEEE Transactions on Automatic Control > 2006 > 51 > 11 > 1825 - 1831