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IEEE Transactions on Industrial Electronics > 2009 > 56 > 5 > 1617 - 1628
IEEE Transactions on Robotics > 2008 > 24 > 5 > 1157 - 1167
IEEE Transactions on Industrial Electronics > 2009 > 56 > 5 > 1617 - 1628
IEEE Transactions on Robotics > 2008 > 24 > 5 > 1157 - 1167