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Automatic Crosswind Flight of Tethered Wings for Airborne W..:

Fagiano, Lorenzo ; Zgraggen, Aldo U. ; Morari, Manfred.
IEEE Transactions on Control Systems Technology.  22 (2014)  4 - p. 1433-1447 , 2014
Link: https://doi.org/10.1109/tcst.2013.2279592