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A model-based fault tolerant control design for nonholonomi..:

Thumati, Balaje T ; Dierks, Travis ; Sarangapani, Jagannathan
The Journal of Defense Modeling and Simulation: Applications, Methodology, Technology.  9 (2011)  1 - p. 17-31 , 2011
Link: https://doi.org/10.1177/1548512910391829