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IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) > 2009 > 39 > 3 > 658 - 671
IEEE Transactions on Industrial Electronics > 2009 > 56 > 3 > 846 - 855
Proceedings of the 2004 American Control Conference > 2 > 1510 - 1515 vol.2