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Proceedings of SICE Annual Conference 2010 > 2207 - 2213
IEEE Transactions on Automatic Control > 2010 > 55 > 10 > 2434 - 2438
IEEE Transactions on Industrial Electronics > 2009 > 56 > 9 > 3424 - 3431
SICE 2004 Annual Conference > 3 > 2606 - 2609 vol. 3