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Adaptive Backstepping Based Fault-tolerant Control for High..:

Liu, Shangkun ; Jiang, Bin ; Mao, Zehui.
International Journal of Control, Automation and Systems.  17 (2019)  6 - p. 1408-1420 , 2019
Link: https://doi.org/10.1007/s12555-018-0703-8