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Adaptive consensus algorithms for real‐time operation of mu..:

Muñoz, Filiberto ; Espinoza Quesada, Eduardo Steed ; La, Hung M....
International Journal of Robust and Nonlinear Control.  27 (2016)  9 - p. 1566-1588 , 2016
Link: https://doi.org/10.1002/rnc.3687