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IEEE Transactions on Robotics > 2010 > 26 > 1 > 180 - 187
IEEE Transactions on Control Systems Technology > 2010 > 18 > 4 > 798 - 810
IEEE Transactions on Control Systems Technology > 2009 > 17 > 5 > 1096 - 1104
IEEE Transactions on Industrial Electronics > 2009 > 56 > 9 > 3357 - 3368
IEEE Transactions on Control Systems Technology > 2008 > 16 > 2 > 268 - 278
IEEE Transactions on Control Systems Technology > 2008 > 16 > 6 > 1277 - 1288
Proceedings of the 2004 American Control Conference > 4 > 3782 - 3787 vol.4
Proceedings of the 2004 American Control Conference > 6 > 5212 - 5217 vol.6