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A new model reference adaptive control structure for uncert..:

Sinafar, Behzad ; Ghiasi, Amir Rikhtehgar ; Fazli, Atousa Karimi
Transactions of the Institute of Measurement and Control.  37 (2014)  10 - p. 1171-1180 , 2014
Link: https://doi.org/10.1177/0142331214557537