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IET Control Theory & Applications > 2011 > 5 > 1 > 155 - 163
SPEEDAM 2010 > 1732 - 1737
Proceedings of the 29th Chinese Control Conference > 3301 - 3306
IEEE Transactions on Automatic Control > 2010 > 55 > 1 > 248 - 252
IEEE Robotics & Automation Magazine > 2008 > 15 > 2 > 77 - 88