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Design and implementation of an internal model controller a..:

Chaves, Eric N. ; Viajante, Ghunter P. ; de Freitas, Marcos A. A....
International Journal of Numerical Modelling: Electronic Networks, Devices and Fields.  35 (2021)  2 - p. , 2021
Link: https://doi.org/10.1002/jnm.2964