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IEEE Transactions on Control Systems Technology > 2008 > 16 > 2 > 268 - 278
IET Control Theory & Applications > 2007 > 1 > 5 > 1477 - 1486
2006 IEEE 3rd Latin American Robotics Symposium > 174 - 179
IEEE Transactions on Automatic Control > 2006 > 51 > 8 > 1315 - 1319