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Robust sliding model control-based adaptive tracker for a c..:

Fang, Jiunn-Shiou ; Tsai, Jason Sheng-Hong ; Yan, Jun-Juh.
Transactions of the Institute of Measurement and Control.  43 (2020)  7 - p. 1629-1639 , 2020
Link: https://doi.org/10.1177/0142331220976114