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IEEE Transactions on Industrial Electronics > 2012 > 59 > 11 > 4409 - 4420
IEEE Transactions on Robotics > 2011 > 27 > 2 > 371 - 379
2010 2nd International Conference on Software Technology and Engineering > 1 > V1-367 - V1-371
Proceedings of the 2010 American Contrl Conference > 2742 - 2747