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IEEE/ASME Transactions on Mechatronics > 2009 > 14 > 2 > 252 - 257
IEEE Transactions on Control Systems Technology > 2008 > 16 > 5 > 996 - 1003
Proceedings of the 2004 American Control Conference > 2 > 1319 - 1322 vol.2
IEEE Spectrum > 1968 > 5 > 12 > 51 - 56