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IEEE Transactions on Control Systems Technology > 2010 > 18 > 4 > 798 - 810
IEEE Transactions on Robotics > 2009 > 25 > 3 > 502 - 511
IEEE Transactions on Control Systems Technology > 2010 > 18 > 4 > 798 - 810
IEEE Transactions on Robotics > 2009 > 25 > 3 > 502 - 511